{
    "0": {
        "acceleration": [
            -0.001441031927242875,
            0.0028468621894717216,
            -0.573519766330719
        ],
        "angular_velocity": [
            0.03393843397498131,
            0.027506275102496147,
            6.470643711509183e-05
        ],
        "forward_vector": [
            0.16038371622562408,
            -0.9870444536209106,
            -0.0044975122436881065
        ],
        "right_vector": [
            0.9870545268058777,
            0.16038493812084198,
            9.107914956985041e-05
        ],
        "location": [
            3519.295166015625,
            4311.126953125,
            367.5843200683594
        ],
        "rotation": [
            -0.005218503996729851,
            -0.25768935680389404,
            -80.77073669433594
        ],
        "velocity": [
            0.0003675321349874139,
            -0.0010348842479288578,
            0.2056165486574173
        ],
        "speed": 0.001098210033126489,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "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": 0.0006753965863026679,
        "expert_target_speed": 10.0,
        "target_point": [
            51.00059127716934,
            0.00020226400001277511
        ],
        "target_point_next": [
            65.91085301261515,
            -7.095248090571715e-05
        ]
    },
    "5": {
        "acceleration": [
            0.0008414690964855254,
            0.0020308704115450382,
            -0.38935407996177673
        ],
        "angular_velocity": [
            0.005799167789518833,
            0.003458564868196845,
            -2.7806940124719404e-05
        ],
        "forward_vector": [
            0.16038364171981812,
            -0.9870439767837524,
            -0.004610999021679163
        ],
        "right_vector": [
            0.9870545268058777,
            0.16038505733013153,
            6.231711449800059e-05
        ],
        "location": [
            3519.295166015625,
            4311.126953125,
            367.61669921875
        ],
        "rotation": [
            -0.0035705456975847483,
            -0.26419171690940857,
            -80.77073669433594
        ],
        "velocity": [
            8.102408173726872e-05,
            -0.00035440819920040667,
            0.07228533178567886
        ],
        "speed": 0.0003635520230748864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.99995231628418,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3521.701171875,
                4296.3212890625,
                367.5717468261719
            ],
            "velocity": [
                -0.0005885118735022843,
                0.0018719267100095749,
                -0.4344128668308258
            ],
            "speed_kmh": 1.5639022749645086,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 3526.598876953125,
                        "y": 4247.4736328125,
                        "z": 367.45367431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15843988955020905,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45513466000556946,
                "transform": {
                    "location": {
                        "x": 3516.8896484375,
                        "y": 4325.9326171875,
                        "z": 367.6982421875
                    },
                    "rotation": {
                        "roll": -6.103210398578085e-05,
                        "pitch": -0.260715126991272,
                        "yaw": -80.77071380615234
                    }
                },
                "velocity": {
                    "x": -0.0003439368156250566,
                    "y": 0.002034230623394251,
                    "z": -0.4551299810409546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4344172775745392,
                "transform": {
                    "location": {
                        "x": 3521.701171875,
                        "y": 4296.3212890625,
                        "z": 367.5717468261719
                    },
                    "rotation": {
                        "roll": 0.00032395735615864396,
                        "pitch": -0.27123361825942993,
                        "yaw": -80.77067565917969
                    }
                },
                "velocity": {
                    "x": -0.0005885118735022843,
                    "y": 0.0018719267100095749,
                    "z": -0.4344128668308258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45509567856788635,
                "transform": {
                    "location": {
                        "x": 3524.106689453125,
                        "y": 4281.51513671875,
                        "z": 367.49053955078125
                    },
                    "rotation": {
                        "roll": 0.0011872774921357632,
                        "pitch": -0.25604328513145447,
                        "yaw": -80.77073669433594
                    }
                },
                "velocity": {
                    "x": -0.0003487352223601192,
                    "y": 0.0020051044411957264,
                    "z": -0.4550911486148834
                },
                "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": -0.0021893552038818598,
        "expert_target_speed": 1.0700076695849,
        "target_point": [
            51.00059127716934,
            0.00020226400001277511
        ],
        "target_point_next": [
            65.91085301261515,
            -7.095248090571715e-05
        ]
    },
    "10": {
        "acceleration": [
            0.0012984410859644413,
            7.018737960606813e-05,
            -0.13921119272708893
        ],
        "angular_velocity": [
            0.01267735380679369,
            -0.0012082727625966072,
            -4.61524905404076e-05
        ],
        "forward_vector": [
            0.16038300096988678,
            -0.9870438575744629,
            -0.004652959760278463
        ],
        "right_vector": [
            0.9870545864105225,
            0.1603846251964569,
            2.609868533909321e-05
        ],
        "location": [
            3519.294921875,
            4311.126953125,
            367.62652587890625
        ],
        "rotation": [
            -0.0014953607460483909,
            -0.2665959298610687,
            -80.7707748413086
        ],
        "velocity": [
            2.6972958949045278e-05,
            -0.0001328614744124934,
            0.018702803179621696
        ],
        "speed": 0.00013557179609907262,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000131607055664,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3521.701171875,
                4296.3212890625,
                367.547607421875
            ],
            "velocity": [
                0.00044816473382525146,
                -9.349867468699813e-05,
                0.02756047435104847
            ],
            "speed_kmh": 0.09923139547295276,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2314627319574356,
                "transform": {
                    "location": {
                        "x": 3526.598876953125,
                        "y": 4247.47412109375,
                        "z": 367.3224182128906
                    },
                    "rotation": {
                        "roll": -0.0006713955081067979,
                        "pitch": 0.15973763167858124,
                        "yaw": 99.22929382324219
                    }
                },
                "velocity": {
                    "x": 0.00013338278222363442,
                    "y": -0.000636305776424706,
                    "z": 0.23146182298660278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09421147406101227,
                "transform": {
                    "location": {
                        "x": 3516.8896484375,
                        "y": 4325.9326171875,
                        "z": 367.691162109375
                    },
                    "rotation": {
                        "roll": -0.0006408704211935401,
                        "pitch": -0.2604624330997467,
                        "yaw": -80.77070617675781
                    }
                },
                "velocity": {
                    "x": 6.502620817627758e-05,
                    "y": -0.0004335335979703814,
                    "z": 0.09421045333147049
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0275642778724432,
                "transform": {
                    "location": {
                        "x": 3521.701171875,
                        "y": 4296.3212890625,
                        "z": 367.547607421875
                    },
                    "rotation": {
                        "roll": -0.000488257355755195,
                        "pitch": -0.2730436325073242,
                        "yaw": -80.77064514160156
                    }
                },
                "velocity": {
                    "x": 0.00044816473382525146,
                    "y": -9.349867468699813e-05,
                    "z": 0.02756047435104847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09504670649766922,
                "transform": {
                    "location": {
                        "x": 3524.106689453125,
                        "y": 4281.51513671875,
                        "z": 367.4833984375
                    },
                    "rotation": {
                        "roll": 0.0012245102552697062,
                        "pitch": -0.25594767928123474,
                        "yaw": -80.77073669433594
                    }
                },
                "velocity": {
                    "x": 6.168227264424786e-05,
                    "y": -0.0004226811579428613,
                    "z": 0.09504574537277222
                },
                "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": -0.00017987641331274062,
        "expert_target_speed": 1.0167741472832514,
        "target_point": [
            51.000630433146625,
            0.0005002417551374094
        ],
        "target_point_next": [
            65.91089216888847,
            0.00024368879023661805
        ]
    },
    "15": {
        "acceleration": [
            0.0024411629419773817,
            0.0013355001574382186,
            -0.024236682802438736
        ],
        "angular_velocity": [
            -0.005970660597085953,
            0.009443785063922405,
            -1.815427458495833e-05
        ],
        "forward_vector": [
            0.16038371622562408,
            -0.9870437383651733,
            -0.00466166203841567
        ],
        "right_vector": [
            0.9870544672012329,
            0.1603853851556778,
            1.7576849131728522e-05
        ],
        "location": [
            3519.294921875,
            4311.126953125,
            367.6289367675781
        ],
        "rotation": [
            -0.001007090206257999,
            -0.26709452271461487,
            -80.7707290649414
        ],
        "velocity": [
            3.853221642202698e-05,
            -1.0542310519667808e-05,
            0.004722775891423225
        ],
        "speed": 3.9948366843802566e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.067092895507812,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3521.713134765625,
                4296.25537109375,
                367.55419921875
            ],
            "velocity": [
                0.1573973298072815,
                -0.8986690044403076,
                0.01907438226044178
            ],
            "speed_kmh": 3.2851725607887543,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09123719483613968,
                "transform": {
                    "location": {
                        "x": 3526.598876953125,
                        "y": 4247.47412109375,
                        "z": 367.3688049316406
                    },
                    "rotation": {
                        "roll": -0.0004272486548870802,
                        "pitch": 0.15945759415626526,
                        "yaw": 99.22929382324219
                    }
                },
                "velocity": {
                    "x": 4.5478369429474697e-05,
                    "y": -0.0002660573518369347,
                    "z": 0.09123679995536804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020304199308156967,
                "transform": {
                    "location": {
                        "x": 3516.8896484375,
                        "y": 4325.9326171875,
                        "z": 367.7051086425781
                    },
                    "rotation": {
                        "roll": -3.0509381758747622e-05,
                        "pitch": -0.26065367460250854,
                        "yaw": -80.77071380615234
                    }
                },
                "velocity": {
                    "x": 5.6399036111542955e-05,
                    "y": -0.0001002785938908346,
                    "z": 0.020303873345255852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9125479459762573,
                "transform": {
                    "location": {
                        "x": 3521.713134765625,
                        "y": 4296.25537109375,
                        "z": 367.55419921875
                    },
                    "rotation": {
                        "roll": -0.009368896484375,
                        "pitch": -0.05919724702835083,
                        "yaw": -80.81136322021484
                    }
                },
                "velocity": {
                    "x": 0.1573973298072815,
                    "y": -0.8986690044403076,
                    "z": 0.01907438226044178
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020965365692973137,
                "transform": {
                    "location": {
                        "x": 3524.106689453125,
                        "y": 4281.51513671875,
                        "z": 367.49737548828125
                    },
                    "rotation": {
                        "roll": 0.0008181767188943923,
                        "pitch": -0.2557973861694336,
                        "yaw": -80.77073669433594
                    }
                },
                "velocity": {
                    "x": -5.0245693273609504e-05,
                    "y": -0.00012415814853738993,
                    "z": 0.020964937284588814
                },
                "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": -0.001030007260851562,
        "expert_target_speed": 1.0081608388342813,
        "target_point": [
            51.000630433835425,
            0.00042424489363135365
        ],
        "target_point_next": [
            65.91089216917842,
            0.00014547390737362775
        ]
    },
    "20": {
        "acceleration": [
            0.63744056224823,
            -3.6905181407928467,
            -0.029889680445194244
        ],
        "angular_velocity": [
            -1.2826306819915771,
            -0.2404758483171463,
            -0.41791629791259766
        ],
        "forward_vector": [
            0.15986375510692596,
            -0.9871387481689453,
            -0.0008277891320176423
        ],
        "right_vector": [
            0.987139105796814,
            0.15986385941505432,
            -4.895205711363815e-05
        ],
        "location": [
            3519.3076171875,
            4311.0478515625,
            367.6281433105469
        ],
        "rotation": [
            0.0028047473169863224,
            -0.047428831458091736,
            -80.80101013183594
        ],
        "velocity": [
            0.13727381825447083,
            -0.8672978281974792,
            -0.0024772167671471834
        ],
        "speed": 0.8780943138263826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.356729507446289,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3521.77685546875,
                4295.89111328125,
                367.5553283691406
            ],
            "velocity": [
                0.3272585868835449,
                -1.8399780988693237,
                -0.0012911128578707576
            ],
            "speed_kmh": 6.727878234003895,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1352617740631104,
                "transform": {
                    "location": {
                        "x": 3526.560791015625,
                        "y": 4247.6982421875,
                        "z": 367.3786315917969
                    },
                    "rotation": {
                        "roll": 0.004715088289231062,
                        "pitch": -0.026303056627511978,
                        "yaw": 99.35222625732422
                    }
                },
                "velocity": {
                    "x": -0.36881181597709656,
                    "y": 2.1031572818756104,
                    "z": 0.00704161636531353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1616179943084717,
                "transform": {
                    "location": {
                        "x": 3516.9306640625,
                        "y": 4325.70068359375,
                        "z": 367.7069091796875
                    },
                    "rotation": {
                        "roll": 0.006755074020475149,
                        "pitch": -0.44488435983657837,
                        "yaw": -80.65837097167969
                    }
                },
                "velocity": {
                    "x": 0.3838980793952942,
                    "y": -2.1272287368774414,
                    "z": -0.01062778476625681
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8688551187515259,
                "transform": {
                    "location": {
                        "x": 3521.77685546875,
                        "y": 4295.89111328125,
                        "z": 367.5553283691406
                    },
                    "rotation": {
                        "roll": -0.0191650390625,
                        "pitch": 0.12162517011165619,
                        "yaw": -80.62493133544922
                    }
                },
                "velocity": {
                    "x": 0.3272585868835449,
                    "y": -1.8399780988693237,
                    "z": -0.0012911128578707576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1997692584991455,
                "transform": {
                    "location": {
                        "x": 3524.1474609375,
                        "y": 4281.2841796875,
                        "z": 367.4992370605469
                    },
                    "rotation": {
                        "roll": 0.006663009990006685,
                        "pitch": -0.4450414478778839,
                        "yaw": -80.66973114013672
                    }
                },
                "velocity": {
                    "x": 0.3905903995037079,
                    "y": -2.164787769317627,
                    "z": -0.010860881768167019
                },
                "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": 0.0007457524188794196,
        "expert_target_speed": 1.8732449717092718,
        "target_point": [
            50.920509309754244,
            0.027515004034908586
        ],
        "target_point_next": [
            65.8307691066094,
            0.035123185940840074
        ]
    },
    "25": {
        "acceleration": [
            0.35841137170791626,
            -2.2959303855895996,
            -0.02261390909552574
        ],
        "angular_velocity": [
            0.09458338469266891,
            0.029909823089838028,
            -0.1564362794160843
        ],
        "forward_vector": [
            0.15915605425834656,
            -0.9872533679008484,
            0.0002663135528564453
        ],
        "right_vector": [
            0.9872534275054932,
            0.15915605425834656,
            -8.017289655981585e-05
        ],
        "location": [
            3519.353759765625,
            4310.7529296875,
            367.6268310546875
        ],
        "rotation": [
            0.004593568854033947,
            0.01525864191353321,
            -80.84208679199219
        ],
        "velocity": [
            0.2245890349149704,
            -1.4424512386322021,
            -0.006305265240371227
        ],
        "speed": 1.459830747188047,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.663061141967773,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3521.8818359375,
                4295.29541015625,
                367.5533142089844
            ],
            "velocity": [
                0.5288228988647461,
                -2.9640512466430664,
                -0.012077932246029377
            ],
            "speed_kmh": 10.839168569815874,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.359027147293091,
                "transform": {
                    "location": {
                        "x": 3526.4404296875,
                        "y": 4248.3916015625,
                        "z": 367.3797302246094
                    },
                    "rotation": {
                        "roll": 0.003322201780974865,
                        "pitch": 0.014097509905695915,
                        "yaw": 99.52892303466797
                    }
                },
                "velocity": {
                    "x": -0.5813173055648804,
                    "y": 3.3083367347717285,
                    "z": 0.006438016891479492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3537514209747314,
                "transform": {
                    "location": {
                        "x": 3517.053466796875,
                        "y": 4325.00732421875,
                        "z": 367.70306396484375
                    },
                    "rotation": {
                        "roll": 0.0035292678512632847,
                        "pitch": -0.4043540060520172,
                        "yaw": -80.40343475341797
                    }
                },
                "velocity": {
                    "x": 0.5959259271621704,
                    "y": -3.300346612930298,
                    "z": -0.015294847078621387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0108802318573,
                "transform": {
                    "location": {
                        "x": 3521.8818359375,
                        "y": 4295.29541015625,
                        "z": 367.5533142089844
                    },
                    "rotation": {
                        "roll": -0.0221252404153347,
                        "pitch": 0.18166252970695496,
                        "yaw": -80.39064025878906
                    }
                },
                "velocity": {
                    "x": 0.5288228988647461,
                    "y": -2.9640512466430664,
                    "z": -0.012077932246029377
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3575408458709717,
                "transform": {
                    "location": {
                        "x": 3524.271240234375,
                        "y": 4280.5869140625,
                        "z": 367.4953918457031
                    },
                    "rotation": {
                        "roll": 0.003121523652225733,
                        "pitch": -0.3944707214832306,
                        "yaw": -80.40142059326172
                    }
                },
                "velocity": {
                    "x": 0.5970850586891174,
                    "y": -3.3039932250976562,
                    "z": -0.014104661531746387
                },
                "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": 0.002387273358181119,
        "expert_target_speed": 2.4566827997732634,
        "target_point": [
            50.62197000573001,
            0.06539387224196691
        ],
        "target_point_next": [
            65.53222052038703,
            0.08368825162135529
        ]
    },
    "30": {
        "acceleration": [
            0.41326940059661865,
            -2.444489002227783,
            -0.02186087891459465
        ],
        "angular_velocity": [
            -0.022656358778476715,
            -0.03636346012353897,
            -0.07007744908332825
        ],
        "forward_vector": [
            0.15816257894039154,
            -0.9874131083488464,
            -0.00015294551849365234
        ],
        "right_vector": [
            0.9874131083488464,
            0.15816257894039154,
            2.7696869437932037e-05
        ],
        "location": [
            3519.4208984375,
            4310.32470703125,
            367.6250305175781
        ],
        "rotation": [
            -0.0015869137132540345,
            -0.008763132616877556,
            -80.89974212646484
        ],
        "velocity": [
            0.3143981397151947,
            -1.9861860275268555,
            -0.008625449612736702
        ],
        "speed": 2.0109154945445336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.17181396484375,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3522.040771484375,
                4294.36669921875,
                367.5486145019531
            ],
            "velocity": [
                0.7466235756874084,
                -4.3621015548706055,
                -0.019633706659078598
            ],
            "speed_kmh": 15.93208958005613,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.486222267150879,
                "transform": {
                    "location": {
                        "x": 3526.271240234375,
                        "y": 4249.36328125,
                        "z": 367.38189697265625
                    },
                    "rotation": {
                        "roll": 0.0030824521090835333,
                        "pitch": 0.042702339589595795,
                        "yaw": 99.69589233398438
                    }
                },
                "velocity": {
                    "x": -0.7763163447380066,
                    "y": 4.418529033660889,
                    "z": 0.011246947571635246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.502194404602051,
                "transform": {
                    "location": {
                        "x": 3517.22021484375,
                        "y": 4324.0322265625,
                        "z": 367.6983947753906
                    },
                    "rotation": {
                        "roll": -0.0033264276571571827,
                        "pitch": -0.3776821196079254,
                        "yaw": -80.35575866699219
                    }
                },
                "velocity": {
                    "x": 0.7606040239334106,
                    "y": -4.43743371963501,
                    "z": -0.02041359804570675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.4255805015563965,
                "transform": {
                    "location": {
                        "x": 3522.040771484375,
                        "y": 4294.36669921875,
                        "z": 367.5486145019531
                    },
                    "rotation": {
                        "roll": 0.0018820898840203881,
                        "pitch": 0.30212655663490295,
                        "yaw": -80.34319305419922
                    }
                },
                "velocity": {
                    "x": 0.7466235756874084,
                    "y": -4.3621015548706055,
                    "z": -0.019633706659078598
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4953203201293945,
                "transform": {
                    "location": {
                        "x": 3524.437744140625,
                        "y": 4279.61376953125,
                        "z": 367.4908447265625
                    },
                    "rotation": {
                        "roll": -0.003570566652342677,
                        "pitch": -0.3634684979915619,
                        "yaw": -80.35530090332031
                    }
                },
                "velocity": {
                    "x": 0.7595427632331848,
                    "y": -4.430644989013672,
                    "z": -0.01961010880768299
                },
                "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": 0.006608176976442337,
        "expert_target_speed": 3.0192865498474393,
        "target_point": [
            50.188427072841954,
            0.1177767399520242
        ],
        "target_point_next": [
            65.09865162387344,
            0.1510773700438559
        ]
    },
    "35": {
        "acceleration": [
            0.41881680488586426,
            -2.6661109924316406,
            -0.02002410590648651
        ],
        "angular_velocity": [
            -0.09508264809846878,
            -0.009864779189229012,
            -0.1773408204317093
        ],
        "forward_vector": [
            0.15770137310028076,
            -0.9874868392944336,
            0.00021874903177376837
        ],
        "right_vector": [
            0.9874868392944336,
            0.15770137310028076,
            1.9707396859303117e-05
        ],
        "location": [
            3519.512939453125,
            4309.744140625,
            367.6222229003906
        ],
        "rotation": [
            -0.0011291506234556437,
            0.012533396482467651,
            -80.92649841308594
        ],
        "velocity": [
            0.4180602431297302,
            -2.6369411945343018,
            -0.011658763512969017
        ],
        "speed": 2.6698751338438433,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.848657608032227,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3522.25390625,
                4293.1201171875,
                367.54327392578125
            ],
            "velocity": [
                0.9104795455932617,
                -5.313545227050781,
                -0.024321027100086212
            ],
            "speed_kmh": 19.407749046244724,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.167025566101074,
                "transform": {
                    "location": {
                        "x": 3526.056884765625,
                        "y": 4250.5908203125,
                        "z": 367.3854675292969
                    },
                    "rotation": {
                        "roll": 0.0020828761626034975,
                        "pitch": 0.08187347650527954,
                        "yaw": 99.83280944824219
                    }
                },
                "velocity": {
                    "x": -0.8946259021759033,
                    "y": 5.088961124420166,
                    "z": 0.01643143594264984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.19065523147583,
                "transform": {
                    "location": {
                        "x": 3517.43115234375,
                        "y": 4322.79931640625,
                        "z": 367.69268798828125
                    },
                    "rotation": {
                        "roll": -0.001342770061455667,
                        "pitch": -0.34417322278022766,
                        "yaw": -80.31640625
                    }
                },
                "velocity": {
                    "x": 0.876899242401123,
                    "y": -5.115998268127441,
                    "z": -0.02262975089251995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.391041278839111,
                "transform": {
                    "location": {
                        "x": 3522.25390625,
                        "y": 4293.1201171875,
                        "z": 367.54327392578125
                    },
                    "rotation": {
                        "roll": -0.0027160688769072294,
                        "pitch": 0.2616986930370331,
                        "yaw": -80.30516815185547
                    }
                },
                "velocity": {
                    "x": 0.9104795455932617,
                    "y": -5.313545227050781,
                    "z": -0.024321027100086212
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.188931465148926,
                "transform": {
                    "location": {
                        "x": 3524.648681640625,
                        "y": 4278.38134765625,
                        "z": 367.4854736328125
                    },
                    "rotation": {
                        "roll": -0.0025939808692783117,
                        "pitch": -0.3311412036418915,
                        "yaw": -80.3139877319336
                    }
                },
                "velocity": {
                    "x": 0.8765572905540466,
                    "y": -5.114312171936035,
                    "z": -0.021620845422148705
                },
                "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": 0.008766194805502892,
        "expert_target_speed": 3.6845493891511154,
        "target_point": [
            49.600549933148805,
            0.14187400582034204
        ],
        "target_point_next": [
            64.51075731281196,
            0.1821355207615838
        ]
    },
    "40": {
        "acceleration": [
            0.40608763694763184,
            -2.6586008071899414,
            -0.01200694590806961
        ],
        "angular_velocity": [
            -0.027312329038977623,
            0.030292794108390808,
            -0.13579797744750977
        ],
        "forward_vector": [
            0.15708447992801666,
            -0.9875850081443787,
            0.0005633830442093313
        ],
        "right_vector": [
            0.987585186958313,
            0.15708447992801666,
            -4.032385186292231e-05
        ],
        "location": [
            3519.6318359375,
            4308.99560546875,
            367.61859130859375
        ],
        "rotation": [
            0.00231038685888052,
            0.032279472798109055,
            -80.96228790283203
        ],
        "velocity": [
            0.5229597091674805,
            -3.3178298473358154,
            -0.014434585347771645
        ],
        "speed": 3.358791710315621,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.49219512939453,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3522.490478515625,
                4291.73876953125,
                367.53704833984375
            ],
            "velocity": [
                1.0814121961593628,
                -6.311247825622559,
                -0.02981497161090374
            ],
            "speed_kmh": 23.051862992283283,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8581109046936035,
                "transform": {
                    "location": {
                        "x": 3525.828125,
                        "y": 4251.9326171875,
                        "z": 367.3892822265625
                    },
                    "rotation": {
                        "roll": -0.0022277897223830223,
                        "pitch": 0.11026656627655029,
                        "yaw": 99.74815368652344
                    }
                },
                "velocity": {
                    "x": -0.9776868224143982,
                    "y": 5.77592134475708,
                    "z": 0.017987165600061417
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.710519790649414,
                "transform": {
                    "location": {
                        "x": 3517.662353515625,
                        "y": 4321.447265625,
                        "z": 367.68609619140625
                    },
                    "rotation": {
                        "roll": -0.0023193638771772385,
                        "pitch": -0.31283631920814514,
                        "yaw": -80.25675201416016
                    }
                },
                "velocity": {
                    "x": 0.9665495753288269,
                    "y": -5.62806510925293,
                    "z": -0.02639693208038807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.403295040130615,
                "transform": {
                    "location": {
                        "x": 3522.490478515625,
                        "y": 4291.73876953125,
                        "z": 367.53704833984375
                    },
                    "rotation": {
                        "roll": -0.0028991783037781715,
                        "pitch": 0.15007290244102478,
                        "yaw": -80.28923034667969
                    }
                },
                "velocity": {
                    "x": 1.0814121961593628,
                    "y": -6.311247825622559,
                    "z": -0.02981497161090374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.9067606925964355,
                "transform": {
                    "location": {
                        "x": 3524.881103515625,
                        "y": 4277.0244140625,
                        "z": 367.4793395996094
                    },
                    "rotation": {
                        "roll": -0.0007934473105706275,
                        "pitch": -0.309202641248703,
                        "yaw": -80.29937744140625
                    }
                },
                "velocity": {
                    "x": 0.9989180564880371,
                    "y": -5.821625709533691,
                    "z": -0.025718245655298233
                },
                "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": 0.010252145119011402,
        "expert_target_speed": 4.370631784561476,
        "target_point": [
            48.84253265328003,
            0.17301118772157498
        ],
        "target_point_next": [
            63.7527119832339,
            0.2225837886531803
        ]
    },
    "45": {
        "acceleration": [
            0.2533400058746338,
            -1.714024543762207,
            -0.003919415175914764
        ],
        "angular_velocity": [
            0.25036942958831787,
            0.04393601790070534,
            -0.2490905076265335
        ],
        "forward_vector": [
            0.156206876039505,
            -0.987724244594574,
            0.000438451737863943
        ],
        "right_vector": [
            0.9877243638038635,
            0.15620684623718262,
            -9.178363688988611e-05
        ],
        "location": [
            3519.775146484375,
            4308.08251953125,
            367.6144104003906
        ],
        "rotation": [
            0.0052588158287107944,
            0.025121433660387993,
            -81.01319885253906
        ],
        "velocity": [
            0.6141098737716675,
            -3.918614149093628,
            -0.017663201317191124
        ],
        "speed": 3.9664427118692425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.26217269897461,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3522.7763671875,
                4290.06884765625,
                367.5294189453125
            ],
            "velocity": [
                1.1248372793197632,
                -6.6316704750061035,
                -0.03219621628522873
            ],
            "speed_kmh": 24.215278654664353,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.165462970733643,
                "transform": {
                    "location": {
                        "x": 3525.568359375,
                        "y": 4253.46630859375,
                        "z": 367.39459228515625
                    },
                    "rotation": {
                        "roll": -0.0007934559835121036,
                        "pitch": 0.03322886675596237,
                        "yaw": 99.67166137695312
                    }
                },
                "velocity": {
                    "x": -1.193064570426941,
                    "y": 7.065407752990723,
                    "z": 0.02163010463118553
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2381436824798584,
                "transform": {
                    "location": {
                        "x": 3517.87158203125,
                        "y": 4320.2294921875,
                        "z": 367.6783142089844
                    },
                    "rotation": {
                        "roll": -0.0018005367601290345,
                        "pitch": -0.07992687076330185,
                        "yaw": -80.25321197509766
                    }
                },
                "velocity": {
                    "x": 0.5479158163070679,
                    "y": -3.191408634185791,
                    "z": -0.016525669023394585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.726466178894043,
                "transform": {
                    "location": {
                        "x": 3522.7763671875,
                        "y": 4290.06884765625,
                        "z": 367.5294189453125
                    },
                    "rotation": {
                        "roll": 0.0062675876542925835,
                        "pitch": 0.07390947639942169,
                        "yaw": -80.28699493408203
                    }
                },
                "velocity": {
                    "x": 1.1248372793197632,
                    "y": -6.6316704750061035,
                    "z": -0.03219621628522873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.168296813964844,
                "transform": {
                    "location": {
                        "x": 3525.146484375,
                        "y": 4275.47412109375,
                        "z": 367.4732666015625
                    },
                    "rotation": {
                        "roll": -0.0013733110390603542,
                        "pitch": -0.3756398856639862,
                        "yaw": -80.27720642089844
                    }
                },
                "velocity": {
                    "x": 1.210774302482605,
                    "y": -7.065240859985352,
                    "z": -0.029600733891129494
                },
                "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": 0.017347972840070724,
        "expert_target_speed": 4.96580273072205,
        "target_point": [
            47.91809634153356,
            0.21748577673507796
        ],
        "target_point_next": [
            62.82822574209681,
            0.28030577837534487
        ]
    },
    "50": {
        "acceleration": [
            0.002118349075317383,
            -0.12115001678466797,
            0.009890943765640259
        ],
        "angular_velocity": [
            0.5588929057121277,
            0.04461875557899475,
            -0.1925039291381836
        ],
        "forward_vector": [
            0.15526200830936432,
            -0.9878708720207214,
            -0.002183793345466256
        ],
        "right_vector": [
            0.9878731966018677,
            0.15526260435581207,
            -0.00010380846651969478
        ],
        "location": [
            3519.93017578125,
            4307.09130859375,
            367.6103820800781
        ],
        "rotation": [
            0.005947801284492016,
            -0.12512223422527313,
            -81.06798553466797
        ],
        "velocity": [
            0.6206294894218445,
            -3.9848906993865967,
            -0.017147941514849663
        ],
        "speed": 4.032931297356529,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.601598739624023,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3523.0009765625,
                4288.7451171875,
                367.5269470214844
            ],
            "velocity": [
                0.5143914818763733,
                -3.0605714321136475,
                -0.016223134472966194
            ],
            "speed_kmh": 11.172743272811251,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.25558090209961,
                "transform": {
                    "location": {
                        "x": 3525.244384765625,
                        "y": 4255.38134765625,
                        "z": 367.4005126953125
                    },
                    "rotation": {
                        "roll": 0.0013520726934075356,
                        "pitch": 0.05380139872431755,
                        "yaw": 99.63599395751953
                    }
                },
                "velocity": {
                    "x": -1.3767718076705933,
                    "y": 8.139927864074707,
                    "z": 0.026251105591654778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4461391866207123,
                "transform": {
                    "location": {
                        "x": 3517.91845703125,
                        "y": 4319.95703125,
                        "z": 367.6759338378906
                    },
                    "rotation": {
                        "roll": -0.0017089855391532183,
                        "pitch": 0.060693059116601944,
                        "yaw": -80.28087615966797
                    }
                },
                "velocity": {
                    "x": 0.07344011962413788,
                    "y": -0.4400504529476166,
                    "z": -0.0015235805185511708
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1035399436950684,
                "transform": {
                    "location": {
                        "x": 3523.0009765625,
                        "y": 4288.7451171875,
                        "z": 367.5269470214844
                    },
                    "rotation": {
                        "roll": 0.00415418203920126,
                        "pitch": -1.0368977785110474,
                        "yaw": -80.63536834716797
                    }
                },
                "velocity": {
                    "x": 0.5143914818763733,
                    "y": -3.0605714321136475,
                    "z": -0.016223134472966194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.258639335632324,
                "transform": {
                    "location": {
                        "x": 3525.470947265625,
                        "y": 4273.54638671875,
                        "z": 367.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0051879859529435635,
                        "pitch": -0.3514678478240967,
                        "yaw": -80.43385314941406
                    }
                },
                "velocity": {
                    "x": 1.3598586320877075,
                    "y": -8.145842552185059,
                    "z": -0.034130048006772995
                },
                "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": 0.028079258278012276,
        "expert_target_speed": 4.997605312840429,
        "target_point": [
            46.91460550328066,
            0.26404742766633316
        ],
        "target_point_next": [
            61.82466802882246,
            0.34112257658425627
        ]
    },
    "55": {
        "acceleration": [
            0.18424153327941895,
            -1.3222503662109375,
            -0.01354895532131195
        ],
        "angular_velocity": [
            -0.11346472054719925,
            0.0019279300468042493,
            -0.2597016394138336
        ],
        "forward_vector": [
            0.1542825549840927,
            -0.98802250623703,
            -0.0029028612188994884
        ],
        "right_vector": [
            0.9880266189575195,
            0.1542835682630539,
            -0.00012245109246578068
        ],
        "location": [
            3520.088623046875,
            4306.07177734375,
            367.6057434082031
        ],
        "rotation": [
            0.007015961222350597,
            -0.16632193326950073,
            -81.12477111816406
        ],
        "velocity": [
            0.6519273519515991,
            -4.213107585906982,
            -0.0191840548068285
        ],
        "speed": 4.263248151662014,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.463428497314453,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3523.14794921875,
                4287.86376953125,
                367.52093505859375
            ],
            "velocity": [
                0.6785539984703064,
                -4.08970308303833,
                -0.018153633922338486
            ],
            "speed_kmh": 14.92434975545618,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.165637969970703,
                "transform": {
                    "location": {
                        "x": 3524.884033203125,
                        "y": 4257.53466796875,
                        "z": 367.4072570800781
                    },
                    "rotation": {
                        "roll": -0.004241942893713713,
                        "pitch": 0.09325256943702698,
                        "yaw": 99.47421264648438
                    }
                },
                "velocity": {
                    "x": -1.4957886934280396,
                    "y": 9.04271125793457,
                    "z": 0.03011152148246765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.490963339805603,
                "transform": {
                    "location": {
                        "x": 3517.962158203125,
                        "y": 4319.6962890625,
                        "z": 367.67767333984375
                    },
                    "rotation": {
                        "roll": -0.0029296712018549442,
                        "pitch": -0.300876647233963,
                        "yaw": -80.30785369873047
                    }
                },
                "velocity": {
                    "x": 0.24548913538455963,
                    "y": -1.4706001281738281,
                    "z": -0.006490430794656277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.145652770996094,
                "transform": {
                    "location": {
                        "x": 3523.14794921875,
                        "y": 4287.86376953125,
                        "z": 367.52093505859375
                    },
                    "rotation": {
                        "roll": 0.001064230571500957,
                        "pitch": -0.5832229852676392,
                        "yaw": -80.68659973144531
                    }
                },
                "velocity": {
                    "x": 0.6785539984703064,
                    "y": -4.08970308303833,
                    "z": -0.018153633922338486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.825708389282227,
                "transform": {
                    "location": {
                        "x": 3525.8037109375,
                        "y": 4271.55419921875,
                        "z": 367.4559326171875
                    },
                    "rotation": {
                        "roll": -0.0018615730805322528,
                        "pitch": -0.21612083911895752,
                        "yaw": -80.50975036621094
                    }
                },
                "velocity": {
                    "x": 1.2866398096084595,
                    "y": -7.719151020050049,
                    "z": -0.031221335753798485
                },
                "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": 0.04391177371144295,
        "expert_target_speed": 5.21847686224924,
        "target_point": [
            45.88255089771301,
            0.31129866789061555
        ],
        "target_point_next": [
            60.79252969555542,
            0.4031536733964227
        ]
    },
    "60": {
        "acceleration": [
            0.20780324935913086,
            -1.480722427368164,
            -0.0016286969184875488
        ],
        "angular_velocity": [
            -0.12021996825933456,
            0.004434285685420036,
            -0.23137050867080688
        ],
        "forward_vector": [
            0.15324236452579498,
            -0.9881860613822937,
            -0.0022584181278944016
        ],
        "right_vector": [
            0.9881885051727295,
            0.15324312448501587,
            -0.000164255136041902
        ],
        "location": [
            3520.2587890625,
            4304.97119140625,
            367.6004638671875
        ],
        "rotation": [
            0.009411150589585304,
            -0.1293979287147522,
            -81.18510437011719
        ],
        "velocity": [
            0.7039297223091125,
            -4.579931259155273,
            -0.02149321511387825
        ],
        "speed": 4.633712053261164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.559062957763672,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3523.345947265625,
                4286.6708984375,
                367.5135192871094
            ],
            "velocity": [
                0.8783175349235535,
                -5.28721284866333,
                -0.022373709827661514
            ],
            "speed_kmh": 19.29497974314113,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.034631729125977,
                "transform": {
                    "location": {
                        "x": 3524.4912109375,
                        "y": 4259.9072265625,
                        "z": 367.41522216796875
                    },
                    "rotation": {
                        "roll": -0.0007324254838749766,
                        "pitch": 0.10176298022270203,
                        "yaw": 99.4173812866211
                    }
                },
                "velocity": {
                    "x": -1.6371837854385376,
                    "y": 9.900114059448242,
                    "z": 0.03456483781337738
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1944735050201416,
                "transform": {
                    "location": {
                        "x": 3518.04248046875,
                        "y": 4319.21826171875,
                        "z": 367.67578125
                    },
                    "rotation": {
                        "roll": -0.002838125452399254,
                        "pitch": -0.3351983428001404,
                        "yaw": -80.3543472290039
                    }
                },
                "velocity": {
                    "x": 0.3608315885066986,
                    "y": -2.164581060409546,
                    "z": -0.010186424478888512
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.359716415405273,
                "transform": {
                    "location": {
                        "x": 3523.345947265625,
                        "y": 4286.6708984375,
                        "z": 367.5135192871094
                    },
                    "rotation": {
                        "roll": -0.0029907224234193563,
                        "pitch": 0.01018381118774414,
                        "yaw": -80.61949157714844
                    }
                },
                "velocity": {
                    "x": 0.8783175349235535,
                    "y": -5.28721284866333,
                    "z": -0.022373709827661514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.161470890045166,
                "transform": {
                    "location": {
                        "x": 3526.0966796875,
                        "y": 4269.791015625,
                        "z": 367.4478454589844
                    },
                    "rotation": {
                        "roll": -0.004547121003270149,
                        "pitch": -0.06403301656246185,
                        "yaw": -80.54703521728516
                    }
                },
                "velocity": {
                    "x": 1.0009623765945435,
                    "y": -6.0795722007751465,
                    "z": -0.024434642866253853
                },
                "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": 0.05355416610836983,
        "expert_target_speed": 5.574478613810061,
        "target_point": [
            44.76853456783096,
            0.36010563646014404
        ],
        "target_point_next": [
            59.678408394857094,
            0.467658211082691
        ]
    },
    "65": {
        "acceleration": [
            -0.08592724800109863,
            0.41090965270996094,
            -0.008663497865200043
        ],
        "angular_velocity": [
            0.4629186689853668,
            0.11972913891077042,
            -0.316746324300766
        ],
        "forward_vector": [
            0.15197770297527313,
            -0.9883793592453003,
            -0.0030189703684300184
        ],
        "right_vector": [
            0.9883837103843689,
            0.1519789844751358,
            -0.00020134192891418934
        ],
        "location": [
            3520.437744140625,
            4303.80078125,
            367.5951232910156
        ],
        "rotation": [
            0.011536095291376114,
            -0.17297452688217163,
            -81.25840759277344
        ],
        "velocity": [
            0.7128879427909851,
            -4.686080455780029,
            -0.022203870117664337
        ],
        "speed": 4.739995702215386,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.720046997070312,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3523.56640625,
                4285.34423828125,
                367.5075988769531
            ],
            "velocity": [
                0.9540970325469971,
                -5.73412561416626,
                -0.02743527851998806
            ],
            "speed_kmh": 20.92688713587709,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.771016120910645,
                "transform": {
                    "location": {
                        "x": 3524.06640625,
                        "y": 4262.48681640625,
                        "z": 367.42425537109375
                    },
                    "rotation": {
                        "roll": -0.0018921003211289644,
                        "pitch": 0.12562082707881927,
                        "yaw": 99.32006072998047
                    }
                },
                "velocity": {
                    "x": -1.7397472858428955,
                    "y": 10.629517555236816,
                    "z": 0.03764775022864342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7432807683944702,
                "transform": {
                    "location": {
                        "x": 3518.12158203125,
                        "y": 4318.7451171875,
                        "z": 367.6728515625
                    },
                    "rotation": {
                        "roll": -0.0023498586378991604,
                        "pitch": -0.2372739315032959,
                        "yaw": -80.39049530029297
                    }
                },
                "velocity": {
                    "x": 0.28686147928237915,
                    "y": -1.719494104385376,
                    "z": -0.008856706321239471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.813024044036865,
                "transform": {
                    "location": {
                        "x": 3523.56640625,
                        "y": 4285.34423828125,
                        "z": 367.5075988769531
                    },
                    "rotation": {
                        "roll": -0.002838131971657276,
                        "pitch": -0.06218886747956276,
                        "yaw": -80.58019256591797
                    }
                },
                "velocity": {
                    "x": 0.9540970325469971,
                    "y": -5.73412561416626,
                    "z": -0.02743527851998806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.993273735046387,
                "transform": {
                    "location": {
                        "x": 3526.33984375,
                        "y": 4268.3154296875,
                        "z": 367.4428405761719
                    },
                    "rotation": {
                        "roll": -0.0010681221028789878,
                        "pitch": -0.16934086382389069,
                        "yaw": -80.57966613769531
                    }
                },
                "velocity": {
                    "x": 0.9731770753860474,
                    "y": -5.913695335388184,
                    "z": -0.02152533084154129
                },
                "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": 0.06824345886707306,
        "expert_target_speed": 5.68039120207931,
        "target_point": [
            43.58402557209158,
            0.41836991128830725
        ],
        "target_point_next": [
            58.49374963156196,
            0.5449936239051603
        ]
    },
    "70": {
        "acceleration": [
            -0.0692605972290039,
            0.296630859375,
            -0.007274039089679718
        ],
        "angular_velocity": [
            0.21172337234020233,
            0.03443685173988342,
            -0.21288272738456726
        ],
        "forward_vector": [
            0.15066784620285034,
            -0.9885736703872681,
            -0.004621012136340141
        ],
        "right_vector": [
            0.9885841012001038,
            0.1506703943014145,
            -0.0002040015533566475
        ],
        "location": [
            3520.61328125,
            4302.64404296875,
            367.59002685546875
        ],
        "rotation": [
            0.011688552796840668,
            -0.2647654414176941,
            -81.33427429199219
        ],
        "velocity": [
            0.6917855739593506,
            -4.58865213394165,
            -0.021261166781187057
        ],
        "speed": 4.640505973131112,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.216991424560547,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3523.837646484375,
                4283.69970703125,
                367.49859619140625
            ],
            "velocity": [
                1.2041727304458618,
                -7.306199073791504,
                -0.0336928553879261
            ],
            "speed_kmh": 26.65743777157636,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.699901580810547,
                "transform": {
                    "location": {
                        "x": 3523.631103515625,
                        "y": 4265.1474609375,
                        "z": 367.4333190917969
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.19749490916728973,
                        "yaw": 99.30831909179688
                    }
                },
                "velocity": {
                    "x": -1.7283469438552856,
                    "y": 10.559319496154785,
                    "z": 0.03850904479622841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4360480308532715,
                "transform": {
                    "location": {
                        "x": 3518.205810546875,
                        "y": 4318.24072265625,
                        "z": 367.6709289550781
                    },
                    "rotation": {
                        "roll": -0.0021667350083589554,
                        "pitch": -0.30679160356521606,
                        "yaw": -80.42121887207031
                    }
                },
                "velocity": {
                    "x": 0.40092870593070984,
                    "y": -2.4028067588806152,
                    "z": -0.010269269347190857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.404843807220459,
                "transform": {
                    "location": {
                        "x": 3523.837646484375,
                        "y": 4283.69970703125,
                        "z": 367.49859619140625
                    },
                    "rotation": {
                        "roll": 0.006266425363719463,
                        "pitch": 0.2780638039112091,
                        "yaw": -80.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.2041727304458618,
                    "y": -7.306199073791504,
                    "z": -0.0336928553879261
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.471461772918701,
                "transform": {
                    "location": {
                        "x": 3526.594970703125,
                        "y": 4266.76806640625,
                        "z": 367.43768310546875
                    },
                    "rotation": {
                        "roll": -0.001709004514850676,
                        "pitch": -0.25277847051620483,
                        "yaw": -80.66873931884766
                    }
                },
                "velocity": {
                    "x": 1.0464274883270264,
                    "y": -6.386260986328125,
                    "z": -0.02192464843392372
                },
                "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": 0.08380298316478729,
        "expert_target_speed": 5.617246699238727,
        "target_point": [
            42.41345187235679,
            0.476854994819929
        ],
        "target_point_next": [
            57.32299511821786,
            0.6232288105974604
        ]
    },
    "75": {
        "acceleration": [
            -0.07219076156616211,
            0.32126426696777344,
            -0.0006102398037910461
        ],
        "angular_velocity": [
            0.09043354541063309,
            -0.008764569647610188,
            -0.4379677176475525
        ],
        "forward_vector": [
            0.14935101568698883,
            -0.9887710213661194,
            -0.005109525751322508
        ],
        "right_vector": [
            0.9887837767601013,
            0.1493539959192276,
            -0.00020275729184504598
        ],
        "location": [
            3520.7841796875,
            4301.5068359375,
            367.5848083496094
        ],
        "rotation": [
            0.011617288924753666,
            -0.2927555441856384,
            -81.41056823730469
        ],
        "velocity": [
            0.6742640733718872,
            -4.513433933258057,
            -0.021753724664449692
        ],
        "speed": 4.563520341855106,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.045183181762695,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3524.1591796875,
                4281.748046875,
                367.4901428222656
            ],
            "velocity": [
                1.3124862909317017,
                -7.977817058563232,
                -0.03667090833187103
            ],
            "speed_kmh": 29.106513176768193,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.603123664855957,
                "transform": {
                    "location": {
                        "x": 3523.20263671875,
                        "y": 4267.76904296875,
                        "z": 367.4430236816406
                    },
                    "rotation": {
                        "roll": -9.154792496701702e-05,
                        "pitch": 0.22681690752506256,
                        "yaw": 99.25638580322266
                    }
                },
                "velocity": {
                    "x": -1.704731822013855,
                    "y": 10.465106010437012,
                    "z": 0.04091200605034828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3580994606018066,
                "transform": {
                    "location": {
                        "x": 3518.324951171875,
                        "y": 4317.52783203125,
                        "z": 367.66796875
                    },
                    "rotation": {
                        "roll": -0.0015258551575243473,
                        "pitch": -0.349179744720459,
                        "yaw": -80.45176696777344
                    }
                },
                "velocity": {
                    "x": 0.5525869727134705,
                    "y": -3.3122940063476562,
                    "z": -0.013740872964262962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.085142135620117,
                "transform": {
                    "location": {
                        "x": 3524.1591796875,
                        "y": 4281.748046875,
                        "z": 367.4901428222656
                    },
                    "rotation": {
                        "roll": 0.003950435668230057,
                        "pitch": 0.14199963212013245,
                        "yaw": -80.6480712890625
                    }
                },
                "velocity": {
                    "x": 1.3124862909317017,
                    "y": -7.977817058563232,
                    "z": -0.03667090833187103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.6929612159729,
                "transform": {
                    "location": {
                        "x": 3526.888916015625,
                        "y": 4264.9794921875,
                        "z": 367.4317932128906
                    },
                    "rotation": {
                        "roll": -0.0010681276908144355,
                        "pitch": -0.32174286246299744,
                        "yaw": -80.72345733642578
                    }
                },
                "velocity": {
                    "x": 1.2416751384735107,
                    "y": -7.592041969299316,
                    "z": -0.028233442455530167
                },
                "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": 0.10007835924625397,
        "expert_target_speed": 5.566332906074147,
        "target_point": [
            41.26280290327446,
            0.5342066559149199
        ],
        "target_point_next": [
            56.17213797514823,
            0.7004378465544114
        ]
    },
    "80": {
        "acceleration": [
            -0.0067043304443359375,
            -0.11986732482910156,
            -0.004805363714694977
        ],
        "angular_velocity": [
            -0.09395615756511688,
            -0.01188625767827034,
            -0.15242555737495422
        ],
        "forward_vector": [
            0.14809417724609375,
            -0.9889602065086365,
            -0.005071140825748444
        ],
        "right_vector": [
            0.9889727830886841,
            0.14809714257717133,
            -0.0002120528370141983
        ],
        "location": [
            3520.951171875,
            4300.38427734375,
            367.57952880859375
        ],
        "rotation": [
            0.012149889022111893,
            -0.2905562222003937,
            -81.48339080810547
        ],
        "velocity": [
            0.6644037961959839,
            -4.487499713897705,
            -0.021211771294474602
        ],
        "speed": 4.536417759271253,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.955177307128906,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3524.490966796875,
                4279.73046875,
                367.4821472167969
            ],
            "velocity": [
                1.2729891538619995,
                -7.769651412963867,
                -0.035535093396902084
            ],
            "speed_kmh": 28.343970149073865,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.660313606262207,
                "transform": {
                    "location": {
                        "x": 3522.775146484375,
                        "y": 4270.39306640625,
                        "z": 367.4535217285156
                    },
                    "rotation": {
                        "roll": 0.0002379177458351478,
                        "pitch": 0.21721366047859192,
                        "yaw": 99.2690658569336
                    }
                },
                "velocity": {
                    "x": -1.7145191431045532,
                    "y": 10.521450996398926,
                    "z": 0.04230890050530434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4945387840271,
                "transform": {
                    "location": {
                        "x": 3518.48779296875,
                        "y": 4316.55419921875,
                        "z": 367.6636962890625
                    },
                    "rotation": {
                        "roll": -0.0013733102241531014,
                        "pitch": -0.371002197265625,
                        "yaw": -80.48139953613281
                    }
                },
                "velocity": {
                    "x": 0.7396818399429321,
                    "y": -4.433207988739014,
                    "z": -0.02037814073264599
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.873324871063232,
                "transform": {
                    "location": {
                        "x": 3524.490966796875,
                        "y": 4279.73046875,
                        "z": 367.4821472167969
                    },
                    "rotation": {
                        "roll": 0.006267550401389599,
                        "pitch": -0.13800396025180817,
                        "yaw": -80.67185974121094
                    }
                },
                "velocity": {
                    "x": 1.2729891538619995,
                    "y": -7.769651412963867,
                    "z": -0.035535093396902084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.898281574249268,
                "transform": {
                    "location": {
                        "x": 3527.1845703125,
                        "y": 4263.16796875,
                        "z": 367.42376708984375
                    },
                    "rotation": {
                        "roll": -0.001159675419330597,
                        "pitch": -0.1520400047302246,
                        "yaw": -80.73147583007812
                    }
                },
                "velocity": {
                    "x": 1.1089962720870972,
                    "y": -6.808509349822998,
                    "z": -0.024801939725875854
                },
                "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": 0.11845318228006363,
        "expert_target_speed": 5.551845986102492,
        "target_point": [
            40.12717968456161,
            0.5877402958179712
        ],
        "target_point_next": [
            55.03629146267926,
            0.7729188089890009
        ]
    },
    "85": {
        "acceleration": [
            0.09805679321289062,
            -0.8245754241943359,
            0.001261979341506958
        ],
        "angular_velocity": [
            -0.2431427389383316,
            -0.05105314031243324,
            -0.35962969064712524
        ],
        "forward_vector": [
            0.14678341150283813,
            -0.9891595840454102,
            -0.0042413342744112015
        ],
        "right_vector": [
            0.9891683459281921,
            0.1467856615781784,
            -0.00022062145581003278
        ],
        "location": [
            3521.119384765625,
            4299.24658203125,
            367.5739440917969
        ],
        "rotation": [
            0.012640791945159435,
            -0.24301128089427948,
            -81.55935668945312
        ],
        "velocity": [
            0.6795738339424133,
            -4.6305718421936035,
            -0.02149735949933529
        ],
        "speed": 4.68017266577799,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.639970779418945,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3524.787109375,
                4277.919921875,
                367.4754638671875
            ],
            "velocity": [
                1.1151046752929688,
                -6.815942287445068,
                -0.029618924483656883
            ],
            "speed_kmh": 24.863833344517758,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.653022766113281,
                "transform": {
                    "location": {
                        "x": 3522.346435546875,
                        "y": 4273.0234375,
                        "z": 367.4640808105469
                    },
                    "rotation": {
                        "roll": -0.0008850236772559583,
                        "pitch": 0.2320898175239563,
                        "yaw": 99.23355865478516
                    }
                },
                "velocity": {
                    "x": -1.7091724872589111,
                    "y": 10.514932632446289,
                    "z": 0.04254995286464691
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.183460235595703,
                "transform": {
                    "location": {
                        "x": 3518.693359375,
                        "y": 4315.32177734375,
                        "z": 367.6580810546875
                    },
                    "rotation": {
                        "roll": -0.001892076339572668,
                        "pitch": -0.34405025839805603,
                        "yaw": -80.50419616699219
                    }
                },
                "velocity": {
                    "x": 0.8522500991821289,
                    "y": -5.1128692626953125,
                    "z": -0.02229284681379795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.906620502471924,
                "transform": {
                    "location": {
                        "x": 3524.787109375,
                        "y": 4277.919921875,
                        "z": 367.4754638671875
                    },
                    "rotation": {
                        "roll": 0.004382986109703779,
                        "pitch": -0.4982964098453522,
                        "yaw": -80.7077407836914
                    }
                },
                "velocity": {
                    "x": 1.1151046752929688,
                    "y": -6.815942287445068,
                    "z": -0.029618924483656883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.202023029327393,
                "transform": {
                    "location": {
                        "x": 3527.442626953125,
                        "y": 4261.58544921875,
                        "z": 367.41802978515625
                    },
                    "rotation": {
                        "roll": -0.0002746624231804162,
                        "pitch": -0.13586612045764923,
                        "yaw": -80.73474884033203
                    }
                },
                "velocity": {
                    "x": 0.9985753893852234,
                    "y": -6.121068000793457,
                    "z": -0.021514281630516052
                },
                "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": 0.13695770502090454,
        "expert_target_speed": 5.685481598940859,
        "target_point": [
            38.976302188327274,
            0.64152115029618
        ],
        "target_point_next": [
            53.88515548168646,
            0.846456679767094
        ]
    },
    "90": {
        "acceleration": [
            0.1611471176147461,
            -1.2750053405761719,
            -0.002758987247943878
        ],
        "angular_velocity": [
            -0.21011720597743988,
            -0.017984917387366295,
            -0.3218110203742981
        ],
        "forward_vector": [
            0.14543655514717102,
            -0.9893625974655151,
            -0.0031478351447731256
        ],
        "right_vector": [
            0.9893673062324524,
            0.1454380452632904,
            -0.00025369564536958933
        ],
        "location": [
            3521.293701171875,
            4298.05322265625,
            367.5680847167969
        ],
        "rotation": [
            0.014535762369632721,
            -0.18035796284675598,
            -81.63739776611328
        ],
        "velocity": [
            0.7153217196464539,
            -4.91996955871582,
            -0.021985644474625587
        ],
        "speed": 4.97169846443731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.71917724609375,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3524.994384765625,
                4276.65185546875,
                367.4729919433594
            ],
            "velocity": [
                0.5400761365890503,
                -3.310945987701416,
                -0.01571677252650261
            ],
            "speed_kmh": 12.07707050095805,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.644813537597656,
                "transform": {
                    "location": {
                        "x": 3521.919189453125,
                        "y": 4275.65087890625,
                        "z": 367.47503662109375
                    },
                    "rotation": {
                        "roll": -0.00033568262006156147,
                        "pitch": 0.23544344305992126,
                        "yaw": 99.24928283691406
                    }
                },
                "velocity": {
                    "x": -1.7083590030670166,
                    "y": 10.50673770904541,
                    "z": 0.04509701579809189
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.920586585998535,
                "transform": {
                    "location": {
                        "x": 3518.91845703125,
                        "y": 4313.9638671875,
                        "z": 367.6514892578125
                    },
                    "rotation": {
                        "roll": -0.003021233482286334,
                        "pitch": -0.32610735297203064,
                        "yaw": -80.52678680419922
                    }
                },
                "velocity": {
                    "x": 0.9620758891105652,
                    "y": -5.841838836669922,
                    "z": -0.025922082364559174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3547418117523193,
                "transform": {
                    "location": {
                        "x": 3524.994384765625,
                        "y": 4276.65185546875,
                        "z": 367.4729919433594
                    },
                    "rotation": {
                        "roll": 0.0029865216929465532,
                        "pitch": -1.3442904949188232,
                        "yaw": -80.7153549194336
                    }
                },
                "velocity": {
                    "x": 0.5400761365890503,
                    "y": -3.310945987701416,
                    "z": -0.01571677252650261
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.81123161315918,
                "transform": {
                    "location": {
                        "x": 3527.655517578125,
                        "y": 4260.28125,
                        "z": 367.412841796875
                    },
                    "rotation": {
                        "roll": -0.00027465849416330457,
                        "pitch": -0.0725434347987175,
                        "yaw": -80.73440551757812
                    }
                },
                "velocity": {
                    "x": 0.7748711705207825,
                    "y": -4.748392581939697,
                    "z": -0.017123956233263016
                },
                "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": 0.15955017507076263,
        "expert_target_speed": 5.922170045392495,
        "target_point": [
            37.76936858182202,
            0.6957380582133208
        ],
        "target_point_next": [
            52.67792871424769,
            0.9209931846689612
        ]
    },
    "95": {
        "acceleration": [
            0.03160595893859863,
            -0.5011653900146484,
            0.006086602807044983
        ],
        "angular_velocity": [
            0.0021029245108366013,
            0.018701903522014618,
            -0.5039421319961548
        ],
        "forward_vector": [
            0.1434013545513153,
            -0.9896576404571533,
            -0.0037108571268618107
        ],
        "right_vector": [
            0.9896642565727234,
            0.14340338110923767,
            -0.00028512137942016125
        ],
        "location": [
            3521.474365234375,
            4296.8076171875,
            367.56256103515625
        ],
        "rotation": [
            0.016336364671587944,
            -0.2126169502735138,
            -81.7552261352539
        ],
        "velocity": [
            0.7199034094810486,
            -5.011645793914795,
            -0.021983809769153595
        ],
        "speed": 5.0630874456843316,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.363941192626953,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3525.14013671875,
                4275.7607421875,
                367.4668273925781
            ],
            "velocity": [
                0.5962309241294861,
                -3.6500630378723145,
                -0.01348849292844534
            ],
            "speed_kmh": 13.314469171342807,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.650067329406738,
                "transform": {
                    "location": {
                        "x": 3521.492431640625,
                        "y": 4278.27783203125,
                        "z": 367.48638916015625
                    },
                    "rotation": {
                        "roll": -0.000701915065292269,
                        "pitch": 0.2465561479330063,
                        "yaw": 99.21913146972656
                    }
                },
                "velocity": {
                    "x": -1.7086615562438965,
                    "y": 10.512011528015137,
                    "z": 0.0449465736746788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.15438175201416,
                "transform": {
                    "location": {
                        "x": 3519.173583984375,
                        "y": 4312.4130859375,
                        "z": 367.6449279785156
                    },
                    "rotation": {
                        "roll": -0.0025329410564154387,
                        "pitch": -0.39980509877204895,
                        "yaw": -80.58494567871094
                    }
                },
                "velocity": {
                    "x": 1.1615357398986816,
                    "y": -7.059385776519775,
                    "z": -0.03292548656463623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6984636783599854,
                "transform": {
                    "location": {
                        "x": 3525.14013671875,
                        "y": 4275.7607421875,
                        "z": 367.4668273925781
                    },
                    "rotation": {
                        "roll": 0.001244335318915546,
                        "pitch": -0.7030313611030579,
                        "yaw": -80.71988677978516
                    }
                },
                "velocity": {
                    "x": 0.5962309241294861,
                    "y": -3.6500630378723145,
                    "z": -0.01348849292844534
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.243964672088623,
                "transform": {
                    "location": {
                        "x": 3527.85986328125,
                        "y": 4259.029296875,
                        "z": 367.409912109375
                    },
                    "rotation": {
                        "roll": -0.0016784688923507929,
                        "pitch": -0.19787739217281342,
                        "yaw": -80.74028015136719
                    }
                },
                "velocity": {
                    "x": 0.8426825404167175,
                    "y": -5.175787925720215,
                    "z": -0.016479844227433205
                },
                "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": 0.18442782759666443,
        "expert_target_speed": 6.001755381283005,
        "target_point": [
            36.509219059551846,
            0.7732223784596428
        ],
        "target_point_next": [
            51.41728451490303,
            1.0291314894956738
        ]
    },
    "100": {
        "acceleration": [
            -0.007904767990112305,
            -0.3680706024169922,
            -0.034181587398052216
        ],
        "angular_velocity": [
            -0.3095375895500183,
            0.0126488097012043,
            -1.2967164516448975
        ],
        "forward_vector": [
            0.14193162322044373,
            -0.9898707270622253,
            -0.0033636027947068214
        ],
        "right_vector": [
            0.9898761510848999,
            0.14193342626094818,
            -0.0003050234809052199
        ],
        "location": [
            3521.65625,
            4295.53759765625,
            367.5565490722656
        ],
        "rotation": [
            0.017476657405495644,
            -0.19272060692310333,
            -81.84031677246094
        ],
        "velocity": [
            0.7427170276641846,
            -5.229775428771973,
            -0.025477666407823563
        ],
        "speed": 5.28225137782834,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.008150100708008,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3525.289306640625,
                4274.84619140625,
                367.4616394042969
            ],
            "velocity": [
                0.6457589864730835,
                -3.9658846855163574,
                -0.016131792217493057
            ],
            "speed_kmh": 14.465329615953697,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.288730144500732,
                "transform": {
                    "location": {
                        "x": 3516.931884765625,
                        "y": 4325.6728515625,
                        "z": 368.08709716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.26061952114105225,
                        "yaw": -80.77073669433594
                    }
                },
                "velocity": {
                    "x": 0.844219446182251,
                    "y": -5.195558547973633,
                    "z": -0.5139414668083191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.648991584777832,
                "transform": {
                    "location": {
                        "x": 3521.06591796875,
                        "y": 4280.90625,
                        "z": 367.4979553222656
                    },
                    "rotation": {
                        "roll": -0.0008850115700624883,
                        "pitch": 0.2516719698905945,
                        "yaw": 99.23848724365234
                    }
                },
                "velocity": {
                    "x": -1.7070034742355347,
                    "y": 10.511174201965332,
                    "z": 0.048808012157678604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.551135063171387,
                "transform": {
                    "location": {
                        "x": 3519.481689453125,
                        "y": 4310.5419921875,
                        "z": 367.635498046875
                    },
                    "rotation": {
                        "roll": -0.002105732448399067,
                        "pitch": -0.3224737048149109,
                        "yaw": -80.63411712646484
                    }
                },
                "velocity": {
                    "x": 1.2251899242401123,
                    "y": -7.450995922088623,
                    "z": -0.03470733016729355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.018146991729736,
                "transform": {
                    "location": {
                        "x": 3525.289306640625,
                        "y": 4274.84619140625,
                        "z": 367.4616394042969
                    },
                    "rotation": {
                        "roll": 0.0012475823750719428,
                        "pitch": -0.317255437374115,
                        "yaw": -80.72833251953125
                    }
                },
                "velocity": {
                    "x": 0.6457589864730835,
                    "y": -3.9658846855163574,
                    "z": -0.016131792217493057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.755000114440918,
                "transform": {
                    "location": {
                        "x": 3528.080810546875,
                        "y": 4257.66943359375,
                        "z": 367.4056701660156
                    },
                    "rotation": {
                        "roll": -0.0002136320690624416,
                        "pitch": -0.24169988930225372,
                        "yaw": -80.68822479248047
                    }
                },
                "velocity": {
                    "x": 0.9242300987243652,
                    "y": -5.680270671844482,
                    "z": -0.018673639744520187
                },
                "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": 0.21820801496505737,
        "expert_target_speed": 6.194321192226228,
        "target_point": [
            35.22505273718545,
            0.8276592031591807
        ],
        "target_point_next": [
            50.132721666285214,
            1.1057099080676558
        ]
    },
    "105": {
        "acceleration": [
            -0.04575967788696289,
            0.4733848571777344,
            0.0009915605187416077
        ],
        "angular_velocity": [
            0.3188139796257019,
            -0.01269314531236887,
            3.2358500957489014
        ],
        "forward_vector": [
            0.14410831034183502,
            -0.9895521998405457,
            -0.004399643279612064
        ],
        "right_vector": [
            0.9895616769790649,
            0.14410997927188873,
            -6.527592631755397e-05
        ],
        "location": [
            3521.841064453125,
            4294.23974609375,
            367.5506286621094
        ],
        "rotation": [
            0.00374007155187428,
            -0.2520817816257477,
            -81.71427154541016
        ],
        "velocity": [
            0.736671507358551,
            -5.136588096618652,
            -0.02536163665354252
        ],
        "speed": 5.18914464859849,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.86435890197754,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3525.476806640625,
                4273.69482421875,
                367.45562744140625
            ],
            "velocity": [
                0.8463342785835266,
                -5.1922760009765625,
                -0.018801197409629822
            ],
            "speed_kmh": 18.93899928330822,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.9211602210998535,
                "transform": {
                    "location": {
                        "x": 3517.1416015625,
                        "y": 4324.38720703125,
                        "z": 367.71148681640625
                    },
                    "rotation": {
                        "roll": -0.010009764693677425,
                        "pitch": -0.2839377820491791,
                        "yaw": -80.72566986083984
                    }
                },
                "velocity": {
                    "x": 0.8108403086662292,
                    "y": -4.7697319984436035,
                    "z": -0.9000081419944763
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.648364067077637,
                "transform": {
                    "location": {
                        "x": 3520.638671875,
                        "y": 4283.53369140625,
                        "z": 367.5101013183594
                    },
                    "rotation": {
                        "roll": -0.0008239801973104477,
                        "pitch": 0.2621768116950989,
                        "yaw": 99.21182250976562
                    }
                },
                "velocity": {
                    "x": -1.7070759534835815,
                    "y": 10.51052188873291,
                    "z": 0.049838654696941376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.383122444152832,
                "transform": {
                    "location": {
                        "x": 3519.764892578125,
                        "y": 4308.81689453125,
                        "z": 367.62628173828125
                    },
                    "rotation": {
                        "roll": -0.0026855510659515858,
                        "pitch": -0.17856162786483765,
                        "yaw": -80.67826843261719
                    }
                },
                "velocity": {
                    "x": 1.0303562879562378,
                    "y": -6.299341201782227,
                    "z": -0.030314883217215538
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.260833263397217,
                "transform": {
                    "location": {
                        "x": 3525.476806640625,
                        "y": 4273.69482421875,
                        "z": 367.45562744140625
                    },
                    "rotation": {
                        "roll": 0.0008774069137871265,
                        "pitch": 0.09330037981271744,
                        "yaw": -80.7397232055664
                    }
                },
                "velocity": {
                    "x": 0.8463342785835266,
                    "y": -5.1922760009765625,
                    "z": -0.018801197409629822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.498472213745117,
                "transform": {
                    "location": {
                        "x": 3528.311767578125,
                        "y": 4256.25341796875,
                        "z": 367.40057373046875
                    },
                    "rotation": {
                        "roll": -0.00012207680265419185,
                        "pitch": -0.16628777980804443,
                        "yaw": -80.72269439697266
                    }
                },
                "velocity": {
                    "x": 0.8841174840927124,
                    "y": -5.426896095275879,
                    "z": -0.01814654842019081
                },
                "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": 0.2263374924659729,
        "expert_target_speed": 6.121662696434344,
        "target_point": [
            33.91585090575779,
            0.7542941985381351
        ],
        "target_point_next": [
            48.82409558083019,
            0.9995406099742477
        ]
    },
    "110": {
        "acceleration": [
            0.020051002502441406,
            -0.36093711853027344,
            -0.004310496151447296
        ],
        "angular_velocity": [
            -0.09470119327306747,
            0.057526085525751114,
            -3.717064380645752
        ],
        "forward_vector": [
            0.14217807352542877,
            -0.989829957485199,
            -0.004699808545410633
        ],
        "right_vector": [
            0.9898407459259033,
            0.14218029379844666,
            -0.0001399298053001985
        ],
        "location": [
            3522.02490234375,
            4292.95751953125,
            367.5445556640625
        ],
        "rotation": [
            0.008017475716769695,
            -0.26928019523620605,
            -81.82601165771484
        ],
        "velocity": [
            0.734695553779602,
            -5.153381824493408,
            -0.025178374722599983
        ],
        "speed": 5.205489581755257,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.857391357421875,
        "front_vehicle_info": {
            "id": 4001,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3525.68408203125,
                4272.423828125,
                367.45123291015625
            ],
            "velocity": [
                0.8005640506744385,
                -4.923964500427246,
                -0.02489488571882248
            ],
            "speed_kmh": 17.95925550990945,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.133545875549316,
                "transform": {
                    "location": {
                        "x": 3517.3564453125,
                        "y": 4323.12841796875,
                        "z": 367.70245361328125
                    },
                    "rotation": {
                        "roll": -0.008300784043967724,
                        "pitch": -0.2668759524822235,
                        "yaw": -80.4466552734375
                    }
                },
                "velocity": {
                    "x": 0.8765817284584045,
                    "y": -5.057032108306885,
                    "z": 0.10640881955623627
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.648638725280762,
                "transform": {
                    "location": {
                        "x": 3520.212158203125,
                        "y": 4286.16064453125,
                        "z": 367.5224914550781
                    },
                    "rotation": {
                        "roll": -0.0005798384663648903,
                        "pitch": 0.26359063386917114,
                        "yaw": 99.23666381835938
                    }
                },
                "velocity": {
                    "x": -1.7067278623580933,
                    "y": 10.510860443115234,
                    "z": 0.04910169541835785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.936523199081421,
                "transform": {
                    "location": {
                        "x": 3519.97802734375,
                        "y": 4307.5126953125,
                        "z": 367.6188049316406
                    },
                    "rotation": {
                        "roll": -0.001098633510991931,
                        "pitch": -0.04165049269795418,
                        "yaw": -80.69962310791016
                    }
                },
                "velocity": {
                    "x": 0.6336930990219116,
                    "y": -3.8851318359375,
                    "z": -0.019988398998975754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4001,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.988682270050049,
                "transform": {
                    "location": {
                        "x": 3525.68408203125,
                        "y": 4272.423828125,
                        "z": 367.45123291015625
                    },
                    "rotation": {
                        "roll": 0.0019900579936802387,
                        "pitch": -0.13125573098659515,
                        "yaw": -80.75557708740234
                    }
                },
                "velocity": {
                    "x": 0.8005640506744385,
                    "y": -4.923964500427246,
                    "z": -0.02489488571882248
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4000,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.105453014373779,
                "transform": {
                    "location": {
                        "x": 3528.519287109375,
                        "y": 4254.97802734375,
                        "z": 367.3962707519531
                    },
                    "rotation": {
                        "roll": -0.0004272482474334538,
                        "pitch": -0.13885091245174408,
                        "yaw": -80.73668670654297
                    }
                },
                "velocity": {
                    "x": 0.8202256560325623,
                    "y": -5.039105415344238,
                    "z": -0.017167996615171432
                },
                "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": 0.25646260380744934,
        "expert_target_speed": 6.133393141746532,
        "target_point": [
            32.618976631092906,
            0.8207915451269949
        ],
        "target_point_next": [
            47.52671451210159,
            1.0951204814156705
        ]
    },
    "115": {
        "acceleration": [
            1.3138949871063232,
            -10.001592636108398,
            -0.03585413098335266
        ],
        "angular_velocity": [
            -2.136610269546509,
            -0.23073837161064148,
            0.771443784236908
        ],
        "forward_vector": [
            0.14025568962097168,
            -0.9901113510131836,
            -0.0028042756021022797
        ],
        "right_vector": [
            0.9901150465011597,
            0.14025701582431793,
            -0.00028674883651547134
        ],
        "location": [
            3522.212158203125,
            4291.640625,
            367.537841796875
        ],
        "rotation": [
            0.016429563984274864,
            -0.1606733649969101,
            -81.93732452392578
        ],
        "velocity": [
            0.8034064769744873,
            -5.719423770904541,
            -0.0268881693482399
        ],
        "speed": 5.77557531666175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 3526.598876953125,
                        "y": 4247.4736328125,
                        "z": 367.6545715332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15843988955020905,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3454.174560546875,
                        "y": 4227.47216796875,
                        "z": 366.5853576660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8883616328239441,
                "transform": {
                    "location": {
                        "x": 3565.03173828125,
                        "y": 4245.00732421875,
                        "z": 367.6949462890625
                    },
                    "rotation": {
                        "roll": 6.852519436506554e-05,
                        "pitch": 0.5530540347099304,
                        "yaw": 8.988434791564941
                    }
                },
                "velocity": {
                    "x": 0.008374571800231934,
                    "y": 0.0013269175542518497,
                    "z": -0.8883211612701416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8259289860725403,
                "transform": {
                    "location": {
                        "x": 3537.37548828125,
                        "y": 4240.6328125,
                        "z": 367.4355773925781
                    },
                    "rotation": {
                        "roll": -9.155423322226852e-05,
                        "pitch": 0.5143883228302002,
                        "yaw": 8.987103462219238
                    }
                },
                "velocity": {
                    "x": 0.0071234977804124355,
                    "y": 0.0014073769561946392,
                    "z": -0.8258970379829407
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3483.724609375,
                        "y": 4232.14599609375,
                        "z": 366.9650573730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6463202834129333,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.517275810241699,
                "transform": {
                    "location": {
                        "x": 3517.55859375,
                        "y": 4321.95654296875,
                        "z": 367.71435546875
                    },
                    "rotation": {
                        "roll": -0.0043334877118468285,
                        "pitch": -0.31689342856407166,
                        "yaw": -80.2920913696289
                    }
                },
                "velocity": {
                    "x": 0.773547351360321,
                    "y": -4.450535774230957,
                    "z": 0.011639595031738281
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.648523330688477,
                "transform": {
                    "location": {
                        "x": 3519.78515625,
                        "y": 4288.78759765625,
                        "z": 367.534912109375
                    },
                    "rotation": {
                        "roll": 0.0005617091082967818,
                        "pitch": 0.267319917678833,
                        "yaw": 99.2127914428711
                    }
                },
                "velocity": {
                    "x": -1.7071871757507324,
                    "y": 10.51066780090332,
                    "z": 0.04923287406563759
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9540388584136963,
                "transform": {
                    "location": {
                        "x": 3520.10986328125,
                        "y": 4306.7060546875,
                        "z": 367.6159362792969
                    },
                    "rotation": {
                        "roll": -0.0019531329162418842,
                        "pitch": -0.13986177742481232,
                        "yaw": -80.70014190673828
                    }
                },
                "velocity": {
                    "x": 0.47551092505455017,
                    "y": -2.915487289428711,
                    "z": -0.013022765517234802
                },
                "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": 0.2918418049812317,
        "expert_target_speed": 6.751189098838585,
        "target_point": [
            31.28717964885445,
            0.8834468600077727
        ],
        "target_point_next": [
            46.19435655201012,
            1.1867319934530114
        ]
    },
    "120": {
        "acceleration": [
            -0.21524429321289062,
            1.1289024353027344,
            -0.0023631006479263306
        ],
        "angular_velocity": [
            0.8967458605766296,
            0.19249863922595978,
            -3.7106857299804688
        ],
        "forward_vector": [
            0.13792529702186584,
            -0.990439772605896,
            -0.0023591495119035244
        ],
        "right_vector": [
            0.9904423952102661,
            0.1379266232252121,
            -0.0004086849803570658
        ],
        "location": [
            3522.417724609375,
            4290.1669921875,
            367.5308837890625
        ],
        "rotation": [
            0.02341599017381668,
            -0.13516943156719208,
            -82.0721664428711
        ],
        "velocity": [
            0.8073645830154419,
            -5.84032678604126,
            -0.02866206131875515
        ],
        "speed": 5.895867581421646,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.220489501953125,
                "transform": {
                    "location": {
                        "x": 3526.598876953125,
                        "y": 4247.47412109375,
                        "z": 367.3125
                    },
                    "rotation": {
                        "roll": -0.0013122621458023787,
                        "pitch": 0.16374695301055908,
                        "yaw": 99.22925567626953
                    }
                },
                "velocity": {
                    "x": 9.964849596144632e-05,
                    "y": 0.0006105400971136987,
                    "z": -0.22048863768577576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3457.15234375,
                        "y": 4227.94384765625,
                        "z": 366.57720947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09195557236671448,
                "transform": {
                    "location": {
                        "x": 3565.0322265625,
                        "y": 4245.00732421875,
                        "z": 367.6524658203125
                    },
                    "rotation": {
                        "roll": -0.00027465762104839087,
                        "pitch": 0.5502809882164001,
                        "yaw": 8.988463401794434
                    }
                },
                "velocity": {
                    "x": -0.0008867213618941605,
                    "y": -0.00013271647912915796,
                    "z": 0.09195119887590408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.045053452253341675,
                "transform": {
                    "location": {
                        "x": 3537.3759765625,
                        "y": 4240.6328125,
                        "z": 367.39984130859375
                    },
                    "rotation": {
                        "roll": -0.0005798329366371036,
                        "pitch": 0.5206243395805359,
                        "yaw": 8.986113548278809
                    }
                },
                "velocity": {
                    "x": -0.000466568541014567,
                    "y": 0.00019964358943980187,
                    "z": 0.045050594955682755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.80379867553711,
                "transform": {
                    "location": {
                        "x": 3486.4013671875,
                        "y": 4232.5703125,
                        "z": 366.9676208496094
                    },
                    "rotation": {
                        "roll": 0.0013700149720534682,
                        "pitch": 0.4657779037952423,
                        "yaw": 8.988786697387695
                    }
                },
                "velocity": {
                    "x": 9.682729721069336,
                    "y": 1.5331600904464722,
                    "z": 0.0929388627409935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.225614547729492,
                "transform": {
                    "location": {
                        "x": 3517.770751953125,
                        "y": 4320.73193359375,
                        "z": 367.7119445800781
                    },
                    "rotation": {
                        "roll": -0.0036010753829032183,
                        "pitch": -0.21294479072093964,
                        "yaw": -80.21067810058594
                    }
                },
                "velocity": {
                    "x": 0.8956400752067566,
                    "y": -5.148255348205566,
                    "z": -0.018477724865078926
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.648588180541992,
                "transform": {
                    "location": {
                        "x": 3519.358642578125,
                        "y": 4291.4140625,
                        "z": 367.54736328125
                    },
                    "rotation": {
                        "roll": 0.0012673605233430862,
                        "pitch": 0.2660563588142395,
                        "yaw": 99.24176788330078
                    }
                },
                "velocity": {
                    "x": -1.7077757120132446,
                    "y": 10.510637283325195,
                    "z": 0.049383629113435745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.012733221054077,
                "transform": {
                    "location": {
                        "x": 3520.209228515625,
                        "y": 4306.09912109375,
                        "z": 367.6134338378906
                    },
                    "rotation": {
                        "roll": -0.0007019252516329288,
                        "pitch": -0.17425177991390228,
                        "yaw": -80.7124252319336
                    }
                },
                "velocity": {
                    "x": 0.3249429166316986,
                    "y": -1.9863065481185913,
                    "z": -0.009679594077169895
                },
                "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": 0.32935860753059387,
        "expert_target_speed": 6.854728425925694,
        "target_point": [
            29.797112246478218,
            0.9567285469221636
        ],
        "target_point_next": [
            44.70353408719231,
            1.2950966908550967
        ]
    },
    "125": {
        "acceleration": [
            0.021218061447143555,
            -0.35124778747558594,
            -0.0023687630891799927
        ],
        "angular_velocity": [
            0.0037937830202281475,
            -0.05235503613948822,
            2.911292791366577
        ],
        "forward_vector": [
            0.13692092895507812,
            -0.9905695915222168,
            -0.004958728328347206
        ],
        "right_vector": [
            0.9905814528465271,
            0.13692452013492584,
            -0.0003927529032807797
        ],
        "location": [
            3522.61376953125,
            4288.7431640625,
            367.52459716796875
        ],
        "rotation": [
            0.022503361105918884,
            -0.28411537408828735,
            -82.13018798828125
        ],
        "velocity": [
            0.7739441990852356,
            -5.664241313934326,
            -0.027215566486120224
        ],
        "speed": 5.71687145961654,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.23948389291763306,
                "transform": {
                    "location": {
                        "x": 3526.598388671875,
                        "y": 4247.4765625,
                        "z": 367.3321838378906
                    },
                    "rotation": {
                        "roll": -0.0021057098638266325,
                        "pitch": 0.18078826367855072,
                        "yaw": 99.22904205322266
                    }
                },
                "velocity": {
                    "x": -0.03215229511260986,
                    "y": 0.18828371167182922,
                    "z": 0.1444576233625412
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3460.295166015625,
                        "y": 4228.44091796875,
                        "z": 366.6048278808594
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.03192641958594322,
                "transform": {
                    "location": {
                        "x": 3565.0322265625,
                        "y": 4245.00732421875,
                        "z": 367.669921875
                    },
                    "rotation": {
                        "roll": 6.557017059094505e-06,
                        "pitch": 0.5505132079124451,
                        "yaw": 8.98847770690918
                    }
                },
                "velocity": {
                    "x": -0.0003257932548876852,
                    "y": -9.111932013183832e-05,
                    "z": 0.03192462772130966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9128106236457825,
                "transform": {
                    "location": {
                        "x": 3537.432373046875,
                        "y": 4240.6416015625,
                        "z": 367.40863037109375
                    },
                    "rotation": {
                        "roll": -0.0026245119515806437,
                        "pitch": 0.6621662974357605,
                        "yaw": 9.010674476623535
                    }
                },
                "velocity": {
                    "x": 0.9011053442955017,
                    "y": 0.1435489058494568,
                    "z": 0.025023039430379868
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.792162895202637,
                "transform": {
                    "location": {
                        "x": 3488.82177734375,
                        "y": 4232.953125,
                        "z": 366.99346923828125
                    },
                    "rotation": {
                        "roll": 0.0011356387985870242,
                        "pitch": 0.588202178478241,
                        "yaw": 8.983317375183105
                    }
                },
                "velocity": {
                    "x": 9.671412467956543,
                    "y": 1.529034972190857,
                    "z": 0.110908143222332
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.909483432769775,
                "transform": {
                    "location": {
                        "x": 3518.001708984375,
                        "y": 4319.3955078125,
                        "z": 367.7060546875
                    },
                    "rotation": {
                        "roll": 0.00678589241579175,
                        "pitch": -0.19655917584896088,
                        "yaw": -80.24608612060547
                    }
                },
                "velocity": {
                    "x": 0.9837254285812378,
                    "y": -5.826974391937256,
                    "z": -0.025356978178024292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.648571014404297,
                "transform": {
                    "location": {
                        "x": 3518.931884765625,
                        "y": 4294.041015625,
                        "z": 367.55987548828125
                    },
                    "rotation": {
                        "roll": 3.388450750207994e-06,
                        "pitch": 0.2665617763996124,
                        "yaw": 99.21736145019531
                    }
                },
                "velocity": {
                    "x": -1.7080787420272827,
                    "y": 10.51057243347168,
                    "z": 0.04893984645605087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6957206726074219,
                "transform": {
                    "location": {
                        "x": 3520.279052734375,
                        "y": 4305.671875,
                        "z": 367.6117858886719
                    },
                    "rotation": {
                        "roll": 0.0004007896641269326,
                        "pitch": -0.22079268097877502,
                        "yaw": -80.70174407958984
                    }
                },
                "velocity": {
                    "x": 0.27385181188583374,
                    "y": -1.6734352111816406,
                    "z": -0.00938909500837326
                },
                "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": 0.3696213662624359,
        "expert_target_speed": 6.694543518444721,
        "target_point": [
            28.35886691142435,
            0.9876605705413706
        ],
        "target_point_next": [
            43.26493842802463,
            1.3411249055804078
        ]
    },
    "130": {
        "acceleration": [
            0.27302980422973633,
            -2.2900009155273438,
            -0.015907660126686096
        ],
        "angular_velocity": [
            -0.613731861114502,
            -0.014796403236687183,
            -3.382887840270996
        ],
        "forward_vector": [
            0.1347711831331253,
            -0.9908720850944519,
            -0.0030440043192356825
        ],
        "right_vector": [
            0.9908764362335205,
            0.13477300107479095,
            -0.00039778376230970025
        ],
        "location": [
            3522.812744140625,
            4287.28076171875,
            367.517333984375
        ],
        "rotation": [
            0.022791437804698944,
            -0.17440886795520782,
            -82.25457763671875
        ],
        "velocity": [
            0.8208597898483276,
            -6.08210563659668,
            -0.02907930314540863
        ],
        "speed": 6.137248550393812,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5716978311538696,
                "transform": {
                    "location": {
                        "x": 3526.553955078125,
                        "y": 4247.7353515625,
                        "z": 367.3561096191406
                    },
                    "rotation": {
                        "roll": -0.014617886394262314,
                        "pitch": 0.5476923584938049,
                        "yaw": 99.28887939453125
                    }
                },
                "velocity": {
                    "x": -0.2692049741744995,
                    "y": 1.5472103357315063,
                    "z": 0.062472131103277206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3463.39404296875,
                        "y": 4228.9306640625,
                        "z": 366.6419372558594
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8223403692245483,
                "transform": {
                    "location": {
                        "x": 3565.160888671875,
                        "y": 4245.02685546875,
                        "z": 367.6750183105469
                    },
                    "rotation": {
                        "roll": -0.00012207261170260608,
                        "pitch": 0.40100720524787903,
                        "yaw": 9.021928787231445
                    }
                },
                "velocity": {
                    "x": 1.7999677658081055,
                    "y": 0.284111887216568,
                    "z": 0.017917880788445473
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.309468984603882,
                "transform": {
                    "location": {
                        "x": 3537.8427734375,
                        "y": 4240.70654296875,
                        "z": 367.4143981933594
                    },
                    "rotation": {
                        "roll": -0.005462643224745989,
                        "pitch": 0.7801373600959778,
                        "yaw": 9.03835391998291
                    }
                },
                "velocity": {
                    "x": 2.280909538269043,
                    "y": 0.3613510727882385,
                    "z": 0.022895660251379013
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.480224609375,
                "transform": {
                    "location": {
                        "x": 3491.2255859375,
                        "y": 4233.3330078125,
                        "z": 367.0204162597656
                    },
                    "rotation": {
                        "roll": -0.0007019038312137127,
                        "pitch": 0.6008312106132507,
                        "yaw": 8.98322582244873
                    }
                },
                "velocity": {
                    "x": 9.36340045928955,
                    "y": 1.4800668954849243,
                    "z": 0.10390910506248474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.704710960388184,
                "transform": {
                    "location": {
                        "x": 3518.262451171875,
                        "y": 4317.8544921875,
                        "z": 367.69854736328125
                    },
                    "rotation": {
                        "roll": 0.0018912756349891424,
                        "pitch": -0.15561218559741974,
                        "yaw": -80.38903045654297
                    }
                },
                "velocity": {
                    "x": 1.1116955280303955,
                    "y": -6.611841678619385,
                    "z": -0.028936123475432396
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.648738861083984,
                "transform": {
                    "location": {
                        "x": 3518.5048828125,
                        "y": 4296.66845703125,
                        "z": 367.572265625
                    },
                    "rotation": {
                        "roll": -0.00027465124730952084,
                        "pitch": 0.2654416263103485,
                        "yaw": 99.24669647216797
                    }
                },
                "velocity": {
                    "x": -1.7086286544799805,
                    "y": 10.51065444946289,
                    "z": 0.04860733076930046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.440903663635254,
                "transform": {
                    "location": {
                        "x": 3520.361572265625,
                        "y": 4305.16748046875,
                        "z": 367.610107421875
                    },
                    "rotation": {
                        "roll": -0.00021362015104386955,
                        "pitch": -0.31976211071014404,
                        "yaw": -80.71569061279297
                    }
                },
                "velocity": {
                    "x": 0.39207443594932556,
                    "y": -2.4091861248016357,
                    "z": -0.010513229295611382
                },
                "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": 0.4073167145252228,
        "expert_target_speed": 7.0506546073230645,
        "target_point": [
            26.88077980862667,
            1.049144719314143
        ],
        "target_point_next": [
            41.78604899552109,
            1.4349627597975756
        ]
    },
    "135": {
        "acceleration": [
            0.30692458152770996,
            -2.6787757873535156,
            0.00211179256439209
        ],
        "angular_velocity": [
            -0.3698052167892456,
            -0.1048605814576149,
            2.3835906982421875
        ],
        "forward_vector": [
            0.1335378885269165,
            -0.9910433292388916,
            -0.0008634327095933259
        ],
        "right_vector": [
            0.9910435080528259,
            0.13353827595710754,
            -0.00042291273712180555
        ],
        "location": [
            3523.02783203125,
            4285.677734375,
            367.50933837890625
        ],
        "rotation": [
            0.02423112280666828,
            -0.04947105795145035,
            -82.32592010498047
        ],
        "velocity": [
            0.8954595923423767,
            -6.7206573486328125,
            -0.030142750591039658
        ],
        "speed": 6.7800503743888365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.65989685058594,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3577.5498046875,
                4243.95068359375,
                368.133544921875
            ],
            "velocity": [
                0.0,
                0.0,
                -0.9800000786781311
            ],
            "speed_kmh": 3.5280002832412722,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 3577.5498046875,
                        "y": 4243.95068359375,
                        "z": 368.133544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5571863055229187,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.864501953125,
                        "y": 4190.44970703125,
                        "z": 367.5649108886719
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.072987399995327,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3628.03271484375,
                        "y": 4254.97216796875,
                        "z": 368.4162902832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4761871099472046,
                        "yaw": 8.988388061523438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3642.848388671875,
                        "y": 4257.31591796875,
                        "z": 368.5234680175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3685433268547058,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5869085788726807,
                "transform": {
                    "location": {
                        "x": 3526.464599609375,
                        "y": 4248.251953125,
                        "z": 367.3655090332031
                    },
                    "rotation": {
                        "roll": -0.01034542266279459,
                        "pitch": 0.600394070148468,
                        "yaw": 99.37060546875
                    }
                },
                "velocity": {
                    "x": -0.4421396255493164,
                    "y": 2.5487418174743652,
                    "z": 0.022876394912600517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3466.33984375,
                        "y": 4229.39697265625,
                        "z": 366.6800231933594
                    },
                    "rotation": {
                        "roll": 1.3341324489601902e-08,
                        "pitch": 0.7397026419639587,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.100637674331665,
                "transform": {
                    "location": {
                        "x": 3565.791748046875,
                        "y": 4245.126953125,
                        "z": 367.68096923828125
                    },
                    "rotation": {
                        "roll": -0.0002441383694531396,
                        "pitch": 0.39500346779823303,
                        "yaw": 9.018972396850586
                    }
                },
                "velocity": {
                    "x": 3.062323570251465,
                    "y": 0.4850810468196869,
                    "z": 0.02870352752506733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9149563312530518,
                "transform": {
                    "location": {
                        "x": 3538.62060546875,
                        "y": 4240.830078125,
                        "z": 367.4217224121094
                    },
                    "rotation": {
                        "roll": 0.0014078737003728747,
                        "pitch": 0.8302367925643921,
                        "yaw": 9.020318031311035
                    }
                },
                "velocity": {
                    "x": 3.866575241088867,
                    "y": 0.6125661730766296,
                    "z": 0.03523838892579079
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.444360733032227,
                "transform": {
                    "location": {
                        "x": 3493.232666015625,
                        "y": 4233.650390625,
                        "z": 367.0434265136719
                    },
                    "rotation": {
                        "roll": -0.0005493174539878964,
                        "pitch": 0.4572538137435913,
                        "yaw": 8.98027515411377
                    }
                },
                "velocity": {
                    "x": 7.35243034362793,
                    "y": 1.1636031866073608,
                    "z": 0.07938283681869507
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.004298210144043,
                "transform": {
                    "location": {
                        "x": 3518.505859375,
                        "y": 4316.40283203125,
                        "z": 367.6942443847656
                    },
                    "rotation": {
                        "roll": -0.004852278623729944,
                        "pitch": -0.4504646062850952,
                        "yaw": -80.23780822753906
                    }
                },
                "velocity": {
                    "x": 0.6710604429244995,
                    "y": -3.9476115703582764,
                    "z": -0.02106555365025997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.64853572845459,
                "transform": {
                    "location": {
                        "x": 3518.07763671875,
                        "y": 4299.29541015625,
                        "z": 367.584716796875
                    },
                    "rotation": {
                        "roll": -0.0012512317625805736,
                        "pitch": 0.2635291814804077,
                        "yaw": 99.21516418457031
                    }
                },
                "velocity": {
                    "x": -1.705726146697998,
                    "y": 10.510918617248535,
                    "z": 0.04905981943011284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4117701053619385,
                "transform": {
                    "location": {
                        "x": 3520.479248046875,
                        "y": 4304.4453125,
                        "z": 367.60699462890625
                    },
                    "rotation": {
                        "roll": -0.0003051899839192629,
                        "pitch": -0.3578472435474396,
                        "yaw": -80.71781921386719
                    }
                },
                "velocity": {
                    "x": 0.5491005778312683,
                    "y": -3.367262601852417,
                    "z": -0.014343651942908764
                },
                "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": 0.4399257302284241,
        "expert_target_speed": 7.588597078414629,
        "target_point": [
            25.26205984985351,
            1.0835239091713404
        ],
        "target_point_next": [
            40.16683699422865,
            1.4879041394731853
        ]
    },
    "140": {
        "acceleration": [
            0.48859119415283203,
            -2.7686405181884766,
            0.00446222722530365
        ],
        "angular_velocity": [
            -0.15851914882659912,
            -0.09175649285316467,
            -2.3596351146698
        ],
        "forward_vector": [
            0.1322924792766571,
            -0.9912106394767761,
            0.00028657910297624767
        ],
        "right_vector": [
            0.9912106990814209,
            0.13229244947433472,
            -0.00014025348355062306
        ],
        "location": [
            3523.264404296875,
            4283.9072265625,
            367.5008544921875
        ],
        "rotation": [
            0.008035933598876,
            0.016419773921370506,
            -82.39791107177734
        ],
        "velocity": [
            0.996448814868927,
            -7.411087989807129,
            -0.0333627313375473
        ],
        "speed": 7.477776102111988,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.4065933227539,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3577.55126953125,
                4243.95068359375,
                367.7455139160156
            ],
            "velocity": [
                0.005614607594907284,
                0.0008980486891232431,
                -0.6013948321342468
            ],
            "speed_kmh": 2.1651181594967572,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6014217138290405,
                "transform": {
                    "location": {
                        "x": 3577.55126953125,
                        "y": 4243.95068359375,
                        "z": 367.7455139160156
                    },
                    "rotation": {
                        "roll": -0.00018310667655896395,
                        "pitch": -0.5657923221588135,
                        "yaw": -171.0115203857422
                    }
                },
                "velocity": {
                    "x": 0.005614607594907284,
                    "y": 0.0008980486891232431,
                    "z": -0.6013948321342468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.533935546875,
                        "y": 4192.48193359375,
                        "z": 367.3155822753906
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3628.854248046875,
                        "y": 4255.10205078125,
                        "z": 368.3839416503906
                    },
                    "rotation": {
                        "roll": -3.335151710359696e-09,
                        "pitch": 0.4403149485588074,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.798475503921509,
                "transform": {
                    "location": {
                        "x": 3526.329833984375,
                        "y": 4249.0302734375,
                        "z": 367.3695983886719
                    },
                    "rotation": {
                        "roll": -0.012725821696221828,
                        "pitch": 0.6658750772476196,
                        "yaw": 99.5643310546875
                    }
                },
                "velocity": {
                    "x": -0.6519728899002075,
                    "y": 3.742079734802246,
                    "z": 0.013688459061086178
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3469.0498046875,
                        "y": 4229.82568359375,
                        "z": 366.7151184082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7388966679573059,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.228672027587891,
                "transform": {
                    "location": {
                        "x": 3566.7021484375,
                        "y": 4245.27099609375,
                        "z": 367.689453125
                    },
                    "rotation": {
                        "roll": 0.00032420657225884497,
                        "pitch": 0.4365173578262329,
                        "yaw": 9.017793655395508
                    }
                },
                "velocity": {
                    "x": 4.176198959350586,
                    "y": 0.6628338694572449,
                    "z": 0.04100023955106735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.331905841827393,
                "transform": {
                    "location": {
                        "x": 3539.771240234375,
                        "y": 4241.01220703125,
                        "z": 367.4322814941406
                    },
                    "rotation": {
                        "roll": 0.00029314763378351927,
                        "pitch": 0.8171979188919067,
                        "yaw": 9.006331443786621
                    }
                },
                "velocity": {
                    "x": 5.2659173011779785,
                    "y": 0.8347020745277405,
                    "z": 0.05103779584169388
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.402194499969482,
                "transform": {
                    "location": {
                        "x": 3495.0615234375,
                        "y": 4233.93994140625,
                        "z": 367.0621337890625
                    },
                    "rotation": {
                        "roll": -0.0003051749081350863,
                        "pitch": 0.5524256825447083,
                        "yaw": 9.008694648742676
                    }
                },
                "velocity": {
                    "x": 7.31069278717041,
                    "y": 1.1576088666915894,
                    "z": 0.07870103418827057
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.540523886680603,
                "transform": {
                    "location": {
                        "x": 3518.56982421875,
                        "y": 4316.02294921875,
                        "z": 367.6942138671875
                    },
                    "rotation": {
                        "roll": -0.004791238810867071,
                        "pitch": -0.6565518975257874,
                        "yaw": -80.22530364990234
                    }
                },
                "velocity": {
                    "x": 0.09016728401184082,
                    "y": -0.5329469442367554,
                    "z": -0.0018729972653090954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.64120101928711,
                "transform": {
                    "location": {
                        "x": 3517.651123046875,
                        "y": 4301.921875,
                        "z": 367.5970153808594
                    },
                    "rotation": {
                        "roll": -0.00039674213621765375,
                        "pitch": 0.26451271772384644,
                        "yaw": 99.23538208007812
                    }
                },
                "velocity": {
                    "x": -1.7073149681091309,
                    "y": 10.503228187561035,
                    "z": 0.04939517006278038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.054258346557617,
                "transform": {
                    "location": {
                        "x": 3520.63427734375,
                        "y": 4303.4951171875,
                        "z": 367.6024169921875
                    },
                    "rotation": {
                        "roll": -0.001159684848971665,
                        "pitch": -0.3388729989528656,
                        "yaw": -80.73567199707031
                    }
                },
                "velocity": {
                    "x": 0.65053391456604,
                    "y": -4.001687049865723,
                    "z": -0.017814693972468376
                },
                "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": 0.4375231862068176,
        "expert_target_speed": 8.14339100135132,
        "target_point": [
            23.474435369423098,
            1.1149977107845568
        ],
        "target_point_next": [
            38.37869263360456,
            1.5381058497288969
        ]
    },
    "145": {
        "acceleration": [
            0.30436038970947266,
            -0.7983493804931641,
            -0.002949163317680359
        ],
        "angular_velocity": [
            0.48637309670448303,
            -0.09096196293830872,
            3.867332696914673
        ],
        "forward_vector": [
            0.1360839158296585,
            -0.9906973242759705,
            -0.0001618862006580457
        ],
        "right_vector": [
            0.9906972050666809,
            0.13608381152153015,
            0.0005198489525355399
        ],
        "location": [
            3523.52783203125,
            4281.98095703125,
            367.4921875
        ],
        "rotation": [
            -0.0297851525247097,
            -0.009275396354496479,
            -82.17869567871094
        ],
        "velocity": [
            1.1006286144256592,
            -7.878655910491943,
            -0.035394977778196335
        ],
        "speed": 7.955161990985613,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.06735229492188,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3577.55126953125,
                4243.95068359375,
                367.7401123046875
            ],
            "velocity": [
                -0.0014030523598194122,
                -0.0004194528446532786,
                0.1507079154253006
            ],
            "speed_kmh": 0.5425741080065919,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.15071502327919006,
                "transform": {
                    "location": {
                        "x": 3577.55126953125,
                        "y": 4243.95068359375,
                        "z": 367.7401123046875
                    },
                    "rotation": {
                        "roll": -0.0002441445831209421,
                        "pitch": -0.5685449242591858,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": -0.0014030523598194122,
                    "y": -0.0004194528446532786,
                    "z": 0.1507079154253006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.199951171875,
                        "y": 4194.53759765625,
                        "z": 367.2942810058594
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3630.08642578125,
                        "y": 4255.29736328125,
                        "z": 368.3354187011719
                    },
                    "rotation": {
                        "roll": -3.335151710359696e-09,
                        "pitch": 0.4403149485588074,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.105663299560547,
                "transform": {
                    "location": {
                        "x": 3526.1376953125,
                        "y": 4250.13525390625,
                        "z": 367.37310791015625
                    },
                    "rotation": {
                        "roll": -0.01394650712609291,
                        "pitch": 0.7373325228691101,
                        "yaw": 99.74980926513672
                    }
                },
                "velocity": {
                    "x": -0.8802381753921509,
                    "y": 5.029175281524658,
                    "z": 0.01937107928097248
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3471.919921875,
                        "y": 4230.279296875,
                        "z": 366.7526550292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7388966679573059,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.208984851837158,
                "transform": {
                    "location": {
                        "x": 3567.88330078125,
                        "y": 4245.45849609375,
                        "z": 367.7012939453125
                    },
                    "rotation": {
                        "roll": 0.00033121759770438075,
                        "pitch": 0.44823795557022095,
                        "yaw": 9.011937141418457
                    }
                },
                "velocity": {
                    "x": 5.144648551940918,
                    "y": 0.8144699931144714,
                    "z": 0.05246395990252495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.070115566253662,
                "transform": {
                    "location": {
                        "x": 3541.16796875,
                        "y": 4241.23388671875,
                        "z": 367.44482421875
                    },
                    "rotation": {
                        "roll": -0.0016784754116088152,
                        "pitch": 0.7130102515220642,
                        "yaw": 9.174221992492676
                    }
                },
                "velocity": {
                    "x": 5.994553565979004,
                    "y": 0.9533048272132874,
                    "z": 0.05328039824962616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.395341873168945,
                "transform": {
                    "location": {
                        "x": 3497.1845703125,
                        "y": 4234.27587890625,
                        "z": 367.0828552246094
                    },
                    "rotation": {
                        "roll": -0.0012206974206492305,
                        "pitch": 0.7384390234947205,
                        "yaw": 8.957018852233887
                    }
                },
                "velocity": {
                    "x": 9.279568672180176,
                    "y": 1.4672050476074219,
                    "z": 0.09674233943223953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8253875970840454,
                "transform": {
                    "location": {
                        "x": 3518.62451171875,
                        "y": 4315.70263671875,
                        "z": 367.6892395019531
                    },
                    "rotation": {
                        "roll": -0.0024108667857944965,
                        "pitch": -0.25332486629486084,
                        "yaw": -80.29319763183594
                    }
                },
                "velocity": {
                    "x": 0.3022688627243042,
                    "y": -1.8001703023910522,
                    "z": -0.007748403586447239
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.286288261413574,
                "transform": {
                    "location": {
                        "x": 3517.230224609375,
                        "y": 4304.51318359375,
                        "z": 367.6089782714844
                    },
                    "rotation": {
                        "roll": -0.0004577620420604944,
                        "pitch": 0.29301509261131287,
                        "yaw": 99.21674346923828
                    }
                },
                "velocity": {
                    "x": -1.650202751159668,
                    "y": 10.15294075012207,
                    "z": 0.048585329204797745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.238734722137451,
                "transform": {
                    "location": {
                        "x": 3520.79638671875,
                        "y": 4302.49853515625,
                        "z": 367.5973815917969
                    },
                    "rotation": {
                        "roll": 0.0006070008384995162,
                        "pitch": -0.29074063897132874,
                        "yaw": -80.73662567138672
                    }
                },
                "velocity": {
                    "x": 0.682256281375885,
                    "y": -4.183425426483154,
                    "z": -0.018699927255511284
                },
                "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": 0.4680096507072449,
        "expert_target_speed": 8.500976738690598,
        "target_point": [
            21.534331421383765,
            1.026329372041157
        ],
        "target_point_next": [
            36.44009848619594,
            1.3924076474239877
        ]
    },
    "150": {
        "acceleration": [
            0.18947124481201172,
            -0.03415107727050781,
            -0.006312504410743713
        ],
        "angular_velocity": [
            0.4259859621524811,
            -0.032500121742486954,
            -1.3752132654190063
        ],
        "forward_vector": [
            0.14118431508541107,
            -0.9899804592132568,
            -0.0023558116517961025
        ],
        "right_vector": [
            0.9899831414222717,
            0.1411825716495514,
            0.000894286495167762
        ],
        "location": [
            3523.809326171875,
            4280.0009765625,
            367.4838562011719
        ],
        "rotation": [
            -0.05123899132013321,
            -0.13497819006443024,
            -81.88359069824219
        ],
        "velocity": [
            1.1551437377929688,
            -7.938499450683594,
            -0.03686618059873581
        ],
        "speed": 8.022102628579743,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.57757568359375,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3577.365234375,
                4243.91845703125,
                367.765625
            ],
            "velocity": [
                -1.3221065998077393,
                -0.23094962537288666,
                0.06051938980817795
            ],
            "speed_kmh": 4.836565081425169,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3434902429580688,
                "transform": {
                    "location": {
                        "x": 3577.365234375,
                        "y": 4243.91845703125,
                        "z": 367.765625
                    },
                    "rotation": {
                        "roll": -0.018035883083939552,
                        "pitch": -0.2221655547618866,
                        "yaw": -170.8867950439453
                    }
                },
                "velocity": {
                    "x": -1.3221065998077393,
                    "y": -0.23094962537288666,
                    "z": 0.06051938980817795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3534.8662109375,
                        "y": 4196.59326171875,
                        "z": 367.2730407714844
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3630.90771484375,
                        "y": 4255.427734375,
                        "z": 368.3030700683594
                    },
                    "rotation": {
                        "roll": -3.335151710359696e-09,
                        "pitch": 0.4403149485588074,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.320389270782471,
                "transform": {
                    "location": {
                        "x": 3525.911865234375,
                        "y": 4251.44384765625,
                        "z": 367.37811279296875
                    },
                    "rotation": {
                        "roll": 0.017527716234326363,
                        "pitch": 0.48435601592063904,
                        "yaw": 99.7647476196289
                    }
                },
                "velocity": {
                    "x": -0.8938683271408081,
                    "y": 5.244736671447754,
                    "z": 0.01671726256608963
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3474.865478515625,
                        "y": 4230.74462890625,
                        "z": 366.7906494140625
                    },
                    "rotation": {
                        "roll": -3.3353080297615634e-09,
                        "pitch": 0.7080378532409668,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.682224273681641,
                "transform": {
                    "location": {
                        "x": 3569.2060546875,
                        "y": 4245.66845703125,
                        "z": 367.7138977050781
                    },
                    "rotation": {
                        "roll": -0.0013122562086209655,
                        "pitch": 0.49769535660743713,
                        "yaw": 8.968034744262695
                    }
                },
                "velocity": {
                    "x": 5.612344741821289,
                    "y": 0.8867487907409668,
                    "z": 0.05419168248772621
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.353949069976807,
                "transform": {
                    "location": {
                        "x": 3542.7509765625,
                        "y": 4241.48583984375,
                        "z": 367.4590148925781
                    },
                    "rotation": {
                        "roll": 0.0014439867809414864,
                        "pitch": 0.7849799394607544,
                        "yaw": 9.123449325561523
                    }
                },
                "velocity": {
                    "x": 7.262338638305664,
                    "y": 1.1553292274475098,
                    "z": 0.0649503692984581
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.724053382873535,
                "transform": {
                    "location": {
                        "x": 3499.451171875,
                        "y": 4234.6337890625,
                        "z": 367.107421875
                    },
                    "rotation": {
                        "roll": -0.001770020928233862,
                        "pitch": 0.5610931515693665,
                        "yaw": 8.989656448364258
                    }
                },
                "velocity": {
                    "x": 8.616436004638672,
                    "y": 1.3633136749267578,
                    "z": 0.08674956858158112
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0277438163757324,
                "transform": {
                    "location": {
                        "x": 3518.7255859375,
                        "y": 4315.1044921875,
                        "z": 367.68572998046875
                    },
                    "rotation": {
                        "roll": -0.0007324271718971431,
                        "pitch": -0.15823498368263245,
                        "yaw": -80.34690856933594
                    }
                },
                "velocity": {
                    "x": 0.5007266998291016,
                    "y": -2.9860222339630127,
                    "z": -0.013285779394209385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.758893013000488,
                "transform": {
                    "location": {
                        "x": 3516.829345703125,
                        "y": 4306.98095703125,
                        "z": 367.62042236328125
                    },
                    "rotation": {
                        "roll": -0.0009155122097581625,
                        "pitch": 0.310220330953598,
                        "yaw": 99.24579620361328
                    }
                },
                "velocity": {
                    "x": -1.5653141736984253,
                    "y": 9.632434844970703,
                    "z": 0.0446479506790638
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.991714000701904,
                "transform": {
                    "location": {
                        "x": 3520.980224609375,
                        "y": 4301.37158203125,
                        "z": 367.5923767089844
                    },
                    "rotation": {
                        "roll": -0.00030518919811584055,
                        "pitch": -0.3336479067802429,
                        "yaw": -80.74214935302734
                    }
                },
                "velocity": {
                    "x": 0.8032493591308594,
                    "y": -4.926611423492432,
                    "z": -0.022303642705082893
                },
                "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": 0.47112229466438293,
        "expert_target_speed": 8.540564933047447,
        "target_point": [
            19.539441053172894,
            0.9162859732210871
        ],
        "target_point_next": [
            34.446895693880755,
            1.2055976207301757
        ]
    },
    "155": {
        "acceleration": [
            0.14763832092285156,
            0.12318611145019531,
            0.012727081775665283
        ],
        "angular_velocity": [
            0.2111303210258484,
            0.011165904812514782,
            4.006265163421631
        ],
        "forward_vector": [
            0.14737144112586975,
            -0.9890745878219604,
            -0.0036154903937131166
        ],
        "right_vector": [
            0.989081084728241,
            0.14736858010292053,
            0.0010498109040781856
        ],
        "location": [
            3524.10302734375,
            4278.017578125,
            367.4753112792969
        ],
        "rotation": [
            -0.0601501427590847,
            -0.20715279877185822,
            -81.52531433105469
        ],
        "velocity": [
            1.2003693580627441,
            -7.93358850479126,
            -0.03473558649420738
        ],
        "speed": 8.023883919844055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.903892517089844,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3576.913330078125,
                4243.84326171875,
                367.77142333984375
            ],
            "velocity": [
                -2.259857177734375,
                -0.3779448866844177,
                -0.0015806007431820035
            ],
            "speed_kmh": 8.248478582173579,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2912440299987793,
                "transform": {
                    "location": {
                        "x": 3576.913330078125,
                        "y": 4243.84326171875,
                        "z": 367.77142333984375
                    },
                    "rotation": {
                        "roll": -0.005767822731286287,
                        "pitch": -0.16055725514888763,
                        "yaw": -170.78221130371094
                    }
                },
                "velocity": {
                    "x": -2.259857177734375,
                    "y": -0.3779448866844177,
                    "z": -0.0015806007431820035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3534.53173828125,
                        "y": 4198.64892578125,
                        "z": 367.2747497558594
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": 0.0815114751458168,
                        "yaw": 99.2292709350586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3632.142333984375,
                        "y": 4255.62255859375,
                        "z": 368.3099670410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.974498748779297,
                "transform": {
                    "location": {
                        "x": 3525.65234375,
                        "y": 4252.96826171875,
                        "z": 367.3819580078125
                    },
                    "rotation": {
                        "roll": 0.01590537652373314,
                        "pitch": 0.7044246792793274,
                        "yaw": 99.66523742675781
                    }
                },
                "velocity": {
                    "x": -1.1646653413772583,
                    "y": 6.876535892486572,
                    "z": 0.020978983491659164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.052713871002197,
                "transform": {
                    "location": {
                        "x": 3477.00439453125,
                        "y": 4231.08154296875,
                        "z": 366.8145751953125
                    },
                    "rotation": {
                        "roll": -0.000823977985419333,
                        "pitch": 0.629654586315155,
                        "yaw": 8.989402770996094
                    }
                },
                "velocity": {
                    "x": 6.9659647941589355,
                    "y": 1.1002894639968872,
                    "z": 0.0739951878786087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6858086585998535,
                "transform": {
                    "location": {
                        "x": 3570.672119140625,
                        "y": 4245.900390625,
                        "z": 367.7285461425781
                    },
                    "rotation": {
                        "roll": -0.00033569385414011776,
                        "pitch": 0.4589203894138336,
                        "yaw": 8.943851470947266
                    }
                },
                "velocity": {
                    "x": 6.603201866149902,
                    "y": 1.045710563659668,
                    "z": 0.06517808884382248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.122340202331543,
                "transform": {
                    "location": {
                        "x": 3544.816162109375,
                        "y": 4241.8134765625,
                        "z": 367.4778137207031
                    },
                    "rotation": {
                        "roll": 0.004077141638845205,
                        "pitch": 0.8783964514732361,
                        "yaw": 9.014864921569824
                    }
                },
                "velocity": {
                    "x": 9.009909629821777,
                    "y": 1.4254343509674072,
                    "z": 0.08219194412231445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.850017070770264,
                "transform": {
                    "location": {
                        "x": 3501.4794921875,
                        "y": 4234.95458984375,
                        "z": 367.12835693359375
                    },
                    "rotation": {
                        "roll": -0.001434327568858862,
                        "pitch": 0.48441746830940247,
                        "yaw": 8.975347518920898
                    }
                },
                "velocity": {
                    "x": 7.753281116485596,
                    "y": 1.2262085676193237,
                    "z": 0.0762285441160202
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.418577671051025,
                "transform": {
                    "location": {
                        "x": 3518.8798828125,
                        "y": 4314.17529296875,
                        "z": 367.6810607910156
                    },
                    "rotation": {
                        "roll": 0.0010542994132265449,
                        "pitch": -0.12114705890417099,
                        "yaw": -80.45909118652344
                    }
                },
                "velocity": {
                    "x": 0.7197753190994263,
                    "y": -4.359511852264404,
                    "z": -0.02016596682369709
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.365647315979004,
                "transform": {
                    "location": {
                        "x": 3516.4462890625,
                        "y": 4309.3369140625,
                        "z": 367.6314697265625
                    },
                    "rotation": {
                        "roll": -0.0017700173193588853,
                        "pitch": 0.30211973190307617,
                        "yaw": 99.21609497070312
                    }
                },
                "velocity": {
                    "x": -1.5025506019592285,
                    "y": 9.244227409362793,
                    "z": 0.04410621523857117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.470178604125977,
                "transform": {
                    "location": {
                        "x": 3521.19091796875,
                        "y": 4300.07763671875,
                        "z": 367.5863952636719
                    },
                    "rotation": {
                        "roll": -0.0002746657410170883,
                        "pitch": -0.3135671317577362,
                        "yaw": -80.73744201660156
                    }
                },
                "velocity": {
                    "x": 0.8769881129264832,
                    "y": -5.399359226226807,
                    "z": -0.025801172479987144
                },
                "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": 0.48087552189826965,
        "expert_target_speed": 8.529420865310342,
        "target_point": [
            17.53976358347332,
            0.7958843138866039
        ],
        "target_point_next": [
            32.448735920881106,
            0.9919683177117848
        ]
    },
    "160": {
        "acceleration": [
            -0.30344486236572266,
            2.7994728088378906,
            0.009683072566986084
        ],
        "angular_velocity": [
            0.773219108581543,
            0.1624501794576645,
            -1.84271240234375
        ],
        "forward_vector": [
            0.15170300006866455,
            -0.9884093999862671,
            -0.005750862415879965
        ],
        "right_vector": [
            0.988426148891449,
            0.15170015394687653,
            0.0009315579081885517
        ],
        "location": [
            3524.40087890625,
            4276.0732421875,
            367.4674987792969
        ],
        "rotation": [
            -0.05337522551417351,
            -0.3295019567012787,
            -81.27422332763672
        ],
        "velocity": [
            1.1714762449264526,
            -7.518285274505615,
            -0.03188519552350044
        ],
        "speed": 7.609005852361723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.05769729614258,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3576.18212890625,
                4243.72119140625,
                367.7665100097656
            ],
            "velocity": [
                -3.601524591445923,
                -0.602979302406311,
                -0.03052455745637417
            ],
            "speed_kmh": 13.146407015228279,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3452.84716796875,
                        "y": 4227.2626953125,
                        "z": 366.57818603515625
                    },
                    "rotation": {
                        "roll": 6.670650698481495e-09,
                        "pitch": 0.7321074604988098,
                        "yaw": 8.988388061523438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.651779890060425,
                "transform": {
                    "location": {
                        "x": 3576.18212890625,
                        "y": 4243.72119140625,
                        "z": 367.7665100097656
                    },
                    "rotation": {
                        "roll": -0.0111083984375,
                        "pitch": -0.042353998869657516,
                        "yaw": -170.67295837402344
                    }
                },
                "velocity": {
                    "x": -3.601524591445923,
                    "y": -0.602979302406311,
                    "z": -0.03052455745637417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3534.19775390625,
                        "y": 4200.70458984375,
                        "z": 367.2761535644531
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": 0.0815114751458168,
                        "yaw": 99.2292709350586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3632.96533203125,
                        "y": 4255.75244140625,
                        "z": 368.31365966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.08875846862793,
                "transform": {
                    "location": {
                        "x": 3525.330810546875,
                        "y": 4254.8681640625,
                        "z": 367.3876953125
                    },
                    "rotation": {
                        "roll": 0.009609666652977467,
                        "pitch": 0.7475299835205078,
                        "yaw": 99.61200714111328
                    }
                },
                "velocity": {
                    "x": -1.3477660417556763,
                    "y": 7.975641250610352,
                    "z": 0.02601330727338791
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.226588249206543,
                "transform": {
                    "location": {
                        "x": 3478.76806640625,
                        "y": 4231.361328125,
                        "z": 366.8346252441406
                    },
                    "rotation": {
                        "roll": 0.0012659296626225114,
                        "pitch": 0.6842346787452698,
                        "yaw": 8.99138069152832
                    }
                },
                "velocity": {
                    "x": 7.137271404266357,
                    "y": 1.1292723417282104,
                    "z": 0.08760833740234375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05035400390625,
                "transform": {
                    "location": {
                        "x": 3572.514404296875,
                        "y": 4246.19091796875,
                        "z": 367.7470703125
                    },
                    "rotation": {
                        "roll": -0.0008544900338165462,
                        "pitch": 0.4182124733924866,
                        "yaw": 8.965127944946289
                    }
                },
                "velocity": {
                    "x": 7.951584815979004,
                    "y": 1.2547789812088013,
                    "z": 0.07761625200510025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.707316398620605,
                "transform": {
                    "location": {
                        "x": 3547.169677734375,
                        "y": 4242.18505859375,
                        "z": 367.49932861328125
                    },
                    "rotation": {
                        "roll": 0.0027331197634339333,
                        "pitch": 0.6999850869178772,
                        "yaw": 8.974505424499512
                    }
                },
                "velocity": {
                    "x": 9.58820629119873,
                    "y": 1.5134103298187256,
                    "z": 0.0887850895524025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.682439804077148,
                "transform": {
                    "location": {
                        "x": 3503.387939453125,
                        "y": 4235.25634765625,
                        "z": 367.14666748046875
                    },
                    "rotation": {
                        "roll": -0.0006103568593971431,
                        "pitch": 0.5234315395355225,
                        "yaw": 9.005324363708496
                    }
                },
                "velocity": {
                    "x": 7.587450981140137,
                    "y": 1.2022370100021362,
                    "z": 0.07137949019670486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.2560858726501465,
                "transform": {
                    "location": {
                        "x": 3519.085205078125,
                        "y": 4312.93701171875,
                        "z": 367.6759338378906
                    },
                    "rotation": {
                        "roll": -0.0014343314105644822,
                        "pitch": -0.15335139632225037,
                        "yaw": -80.53923034667969
                    }
                },
                "velocity": {
                    "x": 0.8557731509208679,
                    "y": -5.1858978271484375,
                    "z": -0.023575715720653534
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.979443550109863,
                "transform": {
                    "location": {
                        "x": 3516.07861328125,
                        "y": 4311.59912109375,
                        "z": 367.6420593261719
                    },
                    "rotation": {
                        "roll": -0.0004882851499132812,
                        "pitch": 0.29970183968544006,
                        "yaw": 99.24703979492188
                    }
                },
                "velocity": {
                    "x": -1.4401288032531738,
                    "y": 8.863112449645996,
                    "z": 0.04076656326651573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.904970645904541,
                "transform": {
                    "location": {
                        "x": 3521.419189453125,
                        "y": 4298.671875,
                        "z": 367.5797424316406
                    },
                    "rotation": {
                        "roll": -9.15553027880378e-05,
                        "pitch": -0.3202538788318634,
                        "yaw": -80.72257995605469
                    }
                },
                "velocity": {
                    "x": 0.949554443359375,
                    "y": -5.828064441680908,
                    "z": -0.026251263916492462
                },
                "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": 0.5148183107376099,
        "expert_target_speed": 8.201402974384987,
        "target_point": [
            15.576065675610659,
            0.7195717169243645
        ],
        "target_point_next": [
            30.485754172388962,
            0.8503158303036873
        ]
    },
    "165": {
        "acceleration": [
            -0.3389310836791992,
            2.840557098388672,
            -0.00038176774978637695
        ],
        "angular_velocity": [
            0.3321058452129364,
            0.11054915189743042,
            3.9372870922088623
        ],
        "forward_vector": [
            0.15618932247161865,
            -0.987690269947052,
            -0.008524671196937561
        ],
        "right_vector": [
            0.9877269268035889,
            0.15618808567523956,
            0.0008148975903168321
        ],
        "location": [
            3524.6806640625,
            4274.29638671875,
            367.4606628417969
        ],
        "rotation": [
            -0.0466918982565403,
            -0.4884336292743683,
            -81.0138931274414
        ],
        "velocity": [
            1.080190896987915,
            -6.747035503387451,
            -0.02912614308297634
        ],
        "speed": 6.83295693370786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.06576156616211,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3575.106689453125,
                4243.541015625,
                367.7563171386719
            ],
            "velocity": [
                -4.922877788543701,
                -0.8265133500099182,
                -0.047057971358299255
            ],
            "speed_kmh": 17.971200177169436,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3455.55712890625,
                        "y": 4227.69091796875,
                        "z": 366.5810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.992000102996826,
                "transform": {
                    "location": {
                        "x": 3575.106689453125,
                        "y": 4243.541015625,
                        "z": 367.7563171386719
                    },
                    "rotation": {
                        "roll": -0.012023926712572575,
                        "pitch": 0.02357781119644642,
                        "yaw": -170.5710906982422
                    }
                },
                "velocity": {
                    "x": -4.922877788543701,
                    "y": -0.8265133500099182,
                    "z": -0.047057971358299255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3533.8671875,
                        "y": 4202.73876953125,
                        "z": 367.27850341796875
                    },
                    "rotation": {
                        "roll": -3.335057119357998e-09,
                        "pitch": 0.08951645344495773,
                        "yaw": 99.22924041748047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.66712474822998,
                "transform": {
                    "location": {
                        "x": 3524.96484375,
                        "y": 4257.0478515625,
                        "z": 367.3945617675781
                    },
                    "rotation": {
                        "roll": 0.027156589552760124,
                        "pitch": 0.8264528512954712,
                        "yaw": 99.5053482055664
                    }
                },
                "velocity": {
                    "x": -1.5858372449874878,
                    "y": 9.536117553710938,
                    "z": 0.029900483787059784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.9572577476501465,
                "transform": {
                    "location": {
                        "x": 3480.51806640625,
                        "y": 4231.63818359375,
                        "z": 366.8561706542969
                    },
                    "rotation": {
                        "roll": -0.0008239708840847015,
                        "pitch": 0.6878136992454529,
                        "yaw": 8.99476146697998
                    }
                },
                "velocity": {
                    "x": 6.871091842651367,
                    "y": 1.088293194770813,
                    "z": 0.08455623686313629
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.89318561553955,
                "transform": {
                    "location": {
                        "x": 3574.611572265625,
                        "y": 4246.5224609375,
                        "z": 367.767333984375
                    },
                    "rotation": {
                        "roll": -0.00012207013787701726,
                        "pitch": 0.4555531144142151,
                        "yaw": 8.971037864685059
                    }
                },
                "velocity": {
                    "x": 8.78396987915039,
                    "y": 1.3867791891098022,
                    "z": 0.0864039957523346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.337621688842773,
                "transform": {
                    "location": {
                        "x": 3549.80419921875,
                        "y": 4242.6005859375,
                        "z": 367.5237121582031
                    },
                    "rotation": {
                        "roll": 0.001253256807103753,
                        "pitch": 0.8057778477668762,
                        "yaw": 8.970355033874512
                    }
                },
                "velocity": {
                    "x": 11.198477745056152,
                    "y": 1.7677726745605469,
                    "z": 0.10360673815011978
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.343338966369629,
                "transform": {
                    "location": {
                        "x": 3505.251220703125,
                        "y": 4235.55126953125,
                        "z": 367.16461181640625
                    },
                    "rotation": {
                        "roll": -0.0006103512714616954,
                        "pitch": 0.49952584505081177,
                        "yaw": 8.984209060668945
                    }
                },
                "velocity": {
                    "x": 7.252656936645508,
                    "y": 1.1483845710754395,
                    "z": 0.06936624646186829
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.685471534729004,
                "transform": {
                    "location": {
                        "x": 3519.307373046875,
                        "y": 4311.58935546875,
                        "z": 367.6699523925781
                    },
                    "rotation": {
                        "roll": -0.002075203927233815,
                        "pitch": -0.2082524597644806,
                        "yaw": -80.5284423828125
                    }
                },
                "velocity": {
                    "x": 0.9259355068206787,
                    "y": -5.6095099449157715,
                    "z": -0.024975575506687164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.591190338134766,
                "transform": {
                    "location": {
                        "x": 3515.726806640625,
                        "y": 4313.76513671875,
                        "z": 367.6520690917969
                    },
                    "rotation": {
                        "roll": -0.00021361974359024316,
                        "pitch": 0.299100786447525,
                        "yaw": 99.20779418945312
                    }
                },
                "velocity": {
                    "x": -1.377518892288208,
                    "y": 8.479936599731445,
                    "z": 0.04089482128620148
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.770340442657471,
                "transform": {
                    "location": {
                        "x": 3521.65673828125,
                        "y": 4297.21484375,
                        "z": 367.5724182128906
                    },
                    "rotation": {
                        "roll": -0.00033568317303434014,
                        "pitch": -0.25854313373565674,
                        "yaw": -80.74466705322266
                    }
                },
                "velocity": {
                    "x": 0.9278848767280579,
                    "y": -5.695181846618652,
                    "z": -0.027654485777020454
                },
                "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": 0.5745792984962463,
        "expert_target_speed": 7.572451518618983,
        "target_point": [
            13.780426397095276,
            0.6499805124385429
        ],
        "target_point_next": [
            28.690555028950868,
            0.712982700232244
        ]
    },
    "170": {
        "acceleration": [
            -0.2618122100830078,
            2.1451187133789062,
            -0.018797703087329865
        ],
        "angular_velocity": [
            -0.07455436140298843,
            -0.04055305942893028,
            -2.4347500801086426
        ],
        "forward_vector": [
            0.15925291180610657,
            -0.9871979355812073,
            -0.0088692931458354
        ],
        "right_vector": [
            0.9872375130653381,
            0.15925313532352448,
            0.0006844051531516016
        ],
        "location": [
            3524.940185546875,
            4272.69091796875,
            367.4541015625
        ],
        "rotation": [
            -0.039215072989463806,
            -0.5081797242164612,
            -80.83610534667969
        ],
        "velocity": [
            1.0084260702133179,
            -6.1480937004089355,
            -0.025980014353990555
        ],
        "speed": 6.230247128974413,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.002479553222656,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3573.79296875,
                4243.32080078125,
                367.74462890625
            ],
            "velocity": [
                -5.330261707305908,
                -0.8970106244087219,
                -0.052829813212156296
            ],
            "speed_kmh": 19.459692997968354,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3458.50244140625,
                        "y": 4228.15673828125,
                        "z": 366.58123779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.405470371246338,
                "transform": {
                    "location": {
                        "x": 3573.79296875,
                        "y": 4243.32080078125,
                        "z": 367.74462890625
                    },
                    "rotation": {
                        "roll": -0.01019287295639515,
                        "pitch": -0.20288392901420593,
                        "yaw": -170.50514221191406
                    }
                },
                "velocity": {
                    "x": -5.330261707305908,
                    "y": -0.8970106244087219,
                    "z": -0.052829813212156296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.318784236907959,
                "transform": {
                    "location": {
                        "x": 3533.564208984375,
                        "y": 4204.59423828125,
                        "z": 367.28057861328125
                    },
                    "rotation": {
                        "roll": -0.012054443359375,
                        "pitch": -0.1484678089618683,
                        "yaw": 99.28526306152344
                    }
                },
                "velocity": {
                    "x": -1.0378297567367554,
                    "y": 6.232969284057617,
                    "z": 0.00597552303224802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.66563606262207,
                "transform": {
                    "location": {
                        "x": 3524.54736328125,
                        "y": 4259.56591796875,
                        "z": 367.4032287597656
                    },
                    "rotation": {
                        "roll": 0.021729709580540657,
                        "pitch": 0.7454058527946472,
                        "yaw": 99.39897155761719
                    }
                },
                "velocity": {
                    "x": -1.7397222518920898,
                    "y": 10.52273178100586,
                    "z": 0.0356309600174427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.436526775360107,
                "transform": {
                    "location": {
                        "x": 3482.286376953125,
                        "y": 4231.91796875,
                        "z": 366.8775939941406
                    },
                    "rotation": {
                        "roll": -0.0007934542954899371,
                        "pitch": 0.6957093477249146,
                        "yaw": 8.996689796447754
                    }
                },
                "velocity": {
                    "x": 7.344521522521973,
                    "y": 1.1628068685531616,
                    "z": 0.08841964602470398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4009,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.808281898498535,
                "transform": {
                    "location": {
                        "x": 3576.92626953125,
                        "y": 4246.88818359375,
                        "z": 367.7900390625
                    },
                    "rotation": {
                        "roll": 0.0010656146332621574,
                        "pitch": 0.46538856625556946,
                        "yaw": 8.984563827514648
                    }
                },
                "velocity": {
                    "x": 9.687015533447266,
                    "y": 1.5345885753631592,
                    "z": 0.09566716849803925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.402640342712402,
                "transform": {
                    "location": {
                        "x": 3552.74365234375,
                        "y": 4243.06494140625,
                        "z": 367.5511169433594
                    },
                    "rotation": {
                        "roll": -0.000305172405205667,
                        "pitch": 0.7813872694969177,
                        "yaw": 8.974308967590332
                    }
                },
                "velocity": {
                    "x": 12.250307083129883,
                    "y": 1.934507966041565,
                    "z": 0.11461011320352554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.87265157699585,
                "transform": {
                    "location": {
                        "x": 3506.999267578125,
                        "y": 4235.828125,
                        "z": 367.18109130859375
                    },
                    "rotation": {
                        "roll": 0.00035470889997668564,
                        "pitch": 0.48397350311279297,
                        "yaw": 9.012134552001953
                    }
                },
                "velocity": {
                    "x": 6.787768840789795,
                    "y": 1.0749455690383911,
                    "z": 0.06346894800662994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.914690971374512,
                "transform": {
                    "location": {
                        "x": 3519.5791015625,
                        "y": 4309.94482421875,
                        "z": 367.6610107421875
                    },
                    "rotation": {
                        "roll": -0.0011291461996734142,
                        "pitch": -0.05919724702835083,
                        "yaw": -80.58720397949219
                    }
                },
                "velocity": {
                    "x": 1.2876691818237305,
                    "y": -7.809153079986572,
                    "z": -0.03699006512761116
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.224292755126953,
                "transform": {
                    "location": {
                        "x": 3515.39013671875,
                        "y": 4315.837890625,
                        "z": 367.6617736816406
                    },
                    "rotation": {
                        "roll": -0.0001220779085997492,
                        "pitch": 0.29612284898757935,
                        "yaw": 99.2473373413086
                    }
                },
                "velocity": {
                    "x": -1.3189432621002197,
                    "y": 8.117753982543945,
                    "z": 0.03805970028042793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.561079502105713,
                "transform": {
                    "location": {
                        "x": 3521.8818359375,
                        "y": 4295.8310546875,
                        "z": 367.5657653808594
                    },
                    "rotation": {
                        "roll": 0.00012006307224510238,
                        "pitch": -0.2514260709285736,
                        "yaw": -80.74456024169922
                    }
                },
                "velocity": {
                    "x": 0.89401775598526,
                    "y": -5.488684177398682,
                    "z": -0.026110075414180756
                },
                "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": 0.5833147764205933,
        "expert_target_speed": 7.057563274058781,
        "target_point": [
            12.156067875277971,
            0.6066937464863842
        ],
        "target_point_next": [
            27.06632021956847,
            0.6234306436438173
        ]
    },
    "175": {
        "acceleration": [
            -0.14585256576538086,
            1.416311264038086,
            0.011150240898132324
        ],
        "angular_velocity": [
            -0.2720448970794678,
            0.015802642330527306,
            4.094964027404785
        ],
        "forward_vector": [
            0.16311274468898773,
            -0.9865756034851074,
            -0.007924472913146019
        ],
        "right_vector": [
            0.9866071939468384,
            0.1631133109331131,
            0.0005794852040708065
        ],
        "location": [
            3525.1845703125,
            4271.21142578125,
            367.4479064941406
        ],
        "rotation": [
            -0.03320310264825821,
            -0.4540436267852783,
            -80.6120834350586
        ],
        "velocity": [
            0.9606384038925171,
            -5.72988748550415,
            -0.02293662540614605
        ],
        "speed": 5.809856860506138,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.857940673828125,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3572.270263671875,
                4243.064453125,
                367.72894287109375
            ],
            "velocity": [
                -6.8556718826293945,
                -1.1549817323684692,
                -0.06766123324632645
            ],
            "speed_kmh": 25.029399105391338,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.748291015625,
                        "y": 4191.162109375,
                        "z": 367.4202575683594
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.072987399995327,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3461.28955078125,
                        "y": 4228.59814453125,
                        "z": 366.6153564453125
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.952610969543457,
                "transform": {
                    "location": {
                        "x": 3572.270263671875,
                        "y": 4243.064453125,
                        "z": 367.72894287109375
                    },
                    "rotation": {
                        "roll": -0.010253905318677425,
                        "pitch": -0.029820604249835014,
                        "yaw": -170.45985412597656
                    }
                },
                "velocity": {
                    "x": -6.8556718826293945,
                    "y": -1.1549817323684692,
                    "z": -0.06766123324632645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.527301788330078,
                "transform": {
                    "location": {
                        "x": 3533.29248046875,
                        "y": 4206.17919921875,
                        "z": 367.2825622558594
                    },
                    "rotation": {
                        "roll": -0.0190124474465847,
                        "pitch": 0.024513548240065575,
                        "yaw": 99.71711730957031
                    }
                },
                "velocity": {
                    "x": -1.1191328763961792,
                    "y": 6.430642604827881,
                    "z": 0.007029237691313028
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.911137580871582,
                "transform": {
                    "location": {
                        "x": 3524.105224609375,
                        "y": 4262.2490234375,
                        "z": 367.4135437011719
                    },
                    "rotation": {
                        "roll": 0.02216133289039135,
                        "pitch": 0.5064516663551331,
                        "yaw": 99.33702850341797
                    }
                },
                "velocity": {
                    "x": -1.7664958238601685,
                    "y": 10.76712703704834,
                    "z": 0.03741193562746048
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.697482109069824,
                "transform": {
                    "location": {
                        "x": 3484.27294921875,
                        "y": 4232.232421875,
                        "z": 366.9011535644531
                    },
                    "rotation": {
                        "roll": 0.00016034769942052662,
                        "pitch": 0.6915088295936584,
                        "yaw": 8.99674129486084
                    }
                },
                "velocity": {
                    "x": 8.589892387390137,
                    "y": 1.3600122928619385,
                    "z": 0.10154203325510025
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.167054176330566,
                "transform": {
                    "location": {
                        "x": 3555.80419921875,
                        "y": 4243.5478515625,
                        "z": 367.5801086425781
                    },
                    "rotation": {
                        "roll": 1.0018977263825946e-05,
                        "pitch": 0.5596383213996887,
                        "yaw": 8.97571086883545
                    }
                },
                "velocity": {
                    "x": 12.01755428314209,
                    "y": 1.8980062007904053,
                    "z": 0.11469729989767075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.627391815185547,
                "transform": {
                    "location": {
                        "x": 3508.6630859375,
                        "y": 4236.09130859375,
                        "z": 367.19622802734375
                    },
                    "rotation": {
                        "roll": 0.0007559807854704559,
                        "pitch": 0.4897176921367645,
                        "yaw": 8.981623649597168
                    }
                },
                "velocity": {
                    "x": 6.545607089996338,
                    "y": 1.0362378358840942,
                    "z": 0.05971075966954231
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.790048599243164,
                "transform": {
                    "location": {
                        "x": 3519.90673828125,
                        "y": 4307.94970703125,
                        "z": 367.6530456542969
                    },
                    "rotation": {
                        "roll": 0.001345957163721323,
                        "pitch": -0.21850456297397614,
                        "yaw": -80.68498229980469
                    }
                },
                "velocity": {
                    "x": 1.2570347785949707,
                    "y": -7.687872886657715,
                    "z": -0.03646446764469147
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.872344017028809,
                "transform": {
                    "location": {
                        "x": 3515.067626953125,
                        "y": 4317.82177734375,
                        "z": 367.6708984375
                    },
                    "rotation": {
                        "roll": -0.00030517473351210356,
                        "pitch": 0.29452458024024963,
                        "yaw": 99.2087173461914
                    }
                },
                "velocity": {
                    "x": -1.2607845067977905,
                    "y": 7.77064323425293,
                    "z": 0.03635982424020767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.976156711578369,
                "transform": {
                    "location": {
                        "x": 3522.117431640625,
                        "y": 4294.3837890625,
                        "z": 367.5592346191406
                    },
                    "rotation": {
                        "roll": -0.0005493304925039411,
                        "pitch": -0.2938825190067291,
                        "yaw": -80.76771545410156
                    }
                },
                "velocity": {
                    "x": 0.9591550827026367,
                    "y": -5.898619651794434,
                    "z": -0.027552761137485504
                },
                "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": 0.5640673041343689,
        "expert_target_speed": 6.703659212365595,
        "target_point": [
            10.658806894209809,
            0.5593781162450735
        ],
        "target_point_next": [
            25.569010702343228,
            0.5178149826963292
        ]
    },
    "180": {
        "acceleration": [
            0.012625455856323242,
            0.2995872497558594,
            0.009653568267822266
        ],
        "angular_velocity": [
            -0.43616968393325806,
            -0.08953388035297394,
            -2.6697964668273926
        ],
        "forward_vector": [
            0.1656446009874344,
            -0.9861647486686707,
            -0.006403759587556124
        ],
        "right_vector": [
            0.9861853718757629,
            0.16564463078975677,
            0.0005299583426676691
        ],
        "location": [
            3525.42138671875,
            4269.81005859375,
            367.4420471191406
        ],
        "rotation": [
            -0.030365001410245895,
            -0.3669109046459198,
            -80.46511840820312
        ],
        "velocity": [
            0.9455926418304443,
            -5.532386302947998,
            -0.02097541280090809
        ],
        "speed": 5.612614689191704,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.46720504760742,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3570.371826171875,
                4242.7509765625,
                367.70989990234375
            ],
            "velocity": [
                -8.224751472473145,
                -1.3473747968673706,
                -0.08074191957712173
            ],
            "speed_kmh": 30.005190126151238,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.49267578125,
                        "y": 4192.736328125,
                        "z": 367.2914733886719
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3464.109619140625,
                        "y": 4229.0439453125,
                        "z": 366.65087890625
                    },
                    "rotation": {
                        "roll": 1.3341324489601902e-08,
                        "pitch": 0.7397026419639587,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.3347749710083,
                "transform": {
                    "location": {
                        "x": 3570.371826171875,
                        "y": 4242.7509765625,
                        "z": 367.70989990234375
                    },
                    "rotation": {
                        "roll": 0.019656892865896225,
                        "pitch": 0.040038567036390305,
                        "yaw": -170.62677001953125
                    }
                },
                "velocity": {
                    "x": -8.224751472473145,
                    "y": -1.3473747968673706,
                    "z": -0.08074191957712173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.284111499786377,
                "transform": {
                    "location": {
                        "x": 3533.0185546875,
                        "y": 4207.75634765625,
                        "z": 367.2850341796875
                    },
                    "rotation": {
                        "roll": 0.0016558851348236203,
                        "pitch": 0.0719970166683197,
                        "yaw": 99.81189727783203
                    }
                },
                "velocity": {
                    "x": -1.064802646636963,
                    "y": 6.193234920501709,
                    "z": 0.009636773727834225
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.682825088500977,
                "transform": {
                    "location": {
                        "x": 3523.669677734375,
                        "y": 4264.90625,
                        "z": 367.42413330078125
                    },
                    "rotation": {
                        "roll": 0.014139311388134956,
                        "pitch": 0.2542879283428192,
                        "yaw": 99.2919692993164
                    }
                },
                "velocity": {
                    "x": -1.7253292798995972,
                    "y": 10.542509078979492,
                    "z": 0.038554780185222626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.91636848449707,
                "transform": {
                    "location": {
                        "x": 3486.606689453125,
                        "y": 4232.6015625,
                        "z": 366.9284362792969
                    },
                    "rotation": {
                        "roll": 0.00012856216926593333,
                        "pitch": 0.6858534216880798,
                        "yaw": 8.996010780334473
                    }
                },
                "velocity": {
                    "x": 9.793719291687012,
                    "y": 1.5506623983383179,
                    "z": 0.11340625584125519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.626626014709473,
                "transform": {
                    "location": {
                        "x": 3558.847412109375,
                        "y": 4244.02880859375,
                        "z": 367.6092529296875
                    },
                    "rotation": {
                        "roll": -0.0004272490041330457,
                        "pitch": 0.6245797872543335,
                        "yaw": 8.980489730834961
                    }
                },
                "velocity": {
                    "x": 12.47130298614502,
                    "y": 1.9707444906234741,
                    "z": 0.12019002437591553
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.306426048278809,
                "transform": {
                    "location": {
                        "x": 3510.26123046875,
                        "y": 4236.34375,
                        "z": 367.2107238769531
                    },
                    "rotation": {
                        "roll": -3.0516755941789597e-05,
                        "pitch": 0.46866023540496826,
                        "yaw": 9.009809494018555
                    }
                },
                "velocity": {
                    "x": 6.228641986846924,
                    "y": 0.9858127236366272,
                    "z": 0.0565824881196022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.04747200012207,
                "transform": {
                    "location": {
                        "x": 3520.19091796875,
                        "y": 4306.216796875,
                        "z": 367.6463928222656
                    },
                    "rotation": {
                        "roll": -0.0005798324127681553,
                        "pitch": -0.3893139362335205,
                        "yaw": -80.7391586303711
                    }
                },
                "velocity": {
                    "x": 0.9771590232849121,
                    "y": -5.967935085296631,
                    "z": -0.028787527233362198
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.533806800842285,
                "transform": {
                    "location": {
                        "x": 3514.75927734375,
                        "y": 4319.720703125,
                        "z": 367.67974853515625
                    },
                    "rotation": {
                        "roll": 0.0005438608932308853,
                        "pitch": 0.2931448817253113,
                        "yaw": 99.2517318725586
                    }
                },
                "velocity": {
                    "x": -1.2089478969573975,
                    "y": 7.43609094619751,
                    "z": 0.03519156202673912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.441309928894043,
                "transform": {
                    "location": {
                        "x": 3522.3466796875,
                        "y": 4292.97412109375,
                        "z": 367.55206298828125
                    },
                    "rotation": {
                        "roll": -0.0006103464984335005,
                        "pitch": -0.23504045605659485,
                        "yaw": -80.76914978027344
                    }
                },
                "velocity": {
                    "x": 0.8728373050689697,
                    "y": -5.370786666870117,
                    "z": -0.025637144222855568
                },
                "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": 0.5576711893081665,
        "expert_target_speed": 6.517253967468355,
        "target_point": [
            9.238971067797644,
            0.5306284383742053
        ],
        "target_point_next": [
            24.14901924547664,
            0.4508259732618751
        ]
    },
    "185": {
        "acceleration": [
            0.18303513526916504,
            -0.6432628631591797,
            -0.005763992667198181
        ],
        "angular_velocity": [
            -0.41984933614730835,
            -0.02086070366203785,
            3.9760684967041016
        ],
        "forward_vector": [
            0.16930615901947021,
            -0.9855533242225647,
            -0.004473551642149687
        ],
        "right_vector": [
            0.9855634570121765,
            0.16930559277534485,
            0.0005113216466270387
        ],
        "location": [
            3525.66064453125,
            4268.42041015625,
            367.436279296875
        ],
        "rotation": [
            -0.029296867549419403,
            -0.25631648302078247,
            -80.2524185180664
        ],
        "velocity": [
            0.9765722155570984,
            -5.608194351196289,
            -0.021855024620890617
        ],
        "speed": 5.6925861585915465,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.95515823364258,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3568.3115234375,
                4242.41357421875,
                367.6910400390625
            ],
            "velocity": [
                -8.036324501037598,
                -1.3107117414474487,
                -0.07915264368057251
            ],
            "speed_kmh": 29.31442264439239,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.256591796875,
                        "y": 4194.1884765625,
                        "z": 367.2839660644531
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3466.80078125,
                        "y": 4229.47021484375,
                        "z": 366.68585205078125
                    },
                    "rotation": {
                        "roll": 1.3341324489601902e-08,
                        "pitch": 0.7397026419639587,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.142894744873047,
                "transform": {
                    "location": {
                        "x": 3568.3115234375,
                        "y": 4242.41357421875,
                        "z": 367.6910400390625
                    },
                    "rotation": {
                        "roll": 0.012210708111524582,
                        "pitch": -0.3410654664039612,
                        "yaw": -170.71946716308594
                    }
                },
                "velocity": {
                    "x": -8.036324501037598,
                    "y": -1.3107117414474487,
                    "z": -0.07915264368057251
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.46940279006958,
                "transform": {
                    "location": {
                        "x": 3532.7744140625,
                        "y": 4209.1865234375,
                        "z": 367.2872619628906
                    },
                    "rotation": {
                        "roll": 0.0028445743955671787,
                        "pitch": -0.01302517019212246,
                        "yaw": 99.71576690673828
                    }
                },
                "velocity": {
                    "x": -0.9203124642372131,
                    "y": 5.391409397125244,
                    "z": 0.009822472929954529
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.703410148620605,
                "transform": {
                    "location": {
                        "x": 3523.2392578125,
                        "y": 4267.541015625,
                        "z": 367.4341735839844
                    },
                    "rotation": {
                        "roll": 0.012032111175358295,
                        "pitch": 0.23354464769363403,
                        "yaw": 99.26309204101562
                    }
                },
                "velocity": {
                    "x": -1.721785068511963,
                    "y": 10.563935279846191,
                    "z": 0.04139379411935806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.865327835083008,
                "transform": {
                    "location": {
                        "x": 3489.177978515625,
                        "y": 4233.0087890625,
                        "z": 366.9578552246094
                    },
                    "rotation": {
                        "roll": -0.0004577665822580457,
                        "pitch": 0.661865770816803,
                        "yaw": 8.999945640563965
                    }
                },
                "velocity": {
                    "x": 10.73092269897461,
                    "y": 1.699492335319519,
                    "z": 0.11993295699357986
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.49700927734375,
                "transform": {
                    "location": {
                        "x": 3562.080810546875,
                        "y": 4244.5400390625,
                        "z": 367.64056396484375
                    },
                    "rotation": {
                        "roll": -0.0017089842585846782,
                        "pitch": 0.715141236782074,
                        "yaw": 8.987137794494629
                    }
                },
                "velocity": {
                    "x": 13.330554962158203,
                    "y": 2.1092238426208496,
                    "z": 0.12935250997543335
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.965890407562256,
                "transform": {
                    "location": {
                        "x": 3511.772705078125,
                        "y": 4236.58349609375,
                        "z": 367.2240905761719
                    },
                    "rotation": {
                        "roll": -0.00100707879755646,
                        "pitch": 0.4627521336078644,
                        "yaw": 8.97587776184082
                    }
                },
                "velocity": {
                    "x": 5.892392635345459,
                    "y": 0.9321216940879822,
                    "z": 0.05199315771460533
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.004800531081855297,
                "transform": {
                    "location": {
                        "x": 3520.30810546875,
                        "y": 4305.52294921875,
                        "z": 367.6462707519531
                    },
                    "rotation": {
                        "roll": 0.007345122750848532,
                        "pitch": -0.7883950471878052,
                        "yaw": -81.01905822753906
                    }
                },
                "velocity": {
                    "x": 0.0016444658394902945,
                    "y": -0.004423065111041069,
                    "z": 0.0008816592744551599
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.385026454925537,
                "transform": {
                    "location": {
                        "x": 3514.46826171875,
                        "y": 4321.49951171875,
                        "z": 367.6874084472656
                    },
                    "rotation": {
                        "roll": -0.0024719370994716883,
                        "pitch": 0.3608047366142273,
                        "yaw": 98.97721862792969
                    }
                },
                "velocity": {
                    "x": -1.0155484676361084,
                    "y": 6.303679466247559,
                    "z": 0.029160384088754654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.485774517059326,
                "transform": {
                    "location": {
                        "x": 3522.5615234375,
                        "y": 4291.65283203125,
                        "z": 367.5459289550781
                    },
                    "rotation": {
                        "roll": -0.0004272512160241604,
                        "pitch": -0.2551553547382355,
                        "yaw": -80.77482604980469
                    }
                },
                "velocity": {
                    "x": 0.8799842000007629,
                    "y": -5.414673328399658,
                    "z": -0.025739822536706924
                },
                "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": 0.5145285129547119,
        "expert_target_speed": 6.5706610552332245,
        "target_point": [
            7.8307828428952995,
            0.49579800421492526
        ],
        "target_point_next": [
            22.740431977815273,
            0.3606396980448934
        ]
    },
    "190": {
        "acceleration": [
            0.23751258850097656,
            -1.0565662384033203,
            0.005443692207336426
        ],
        "angular_velocity": [
            -0.3186027407646179,
            0.0007874060538597405,
            -2.7061054706573486
        ],
        "forward_vector": [
            0.17120002210140228,
            -0.9852319955825806,
            -0.002908106427639723
        ],
        "right_vector": [
            0.9852362871170044,
            0.17119963467121124,
            0.0003845588071271777
        ],
        "location": [
            3525.91015625,
            4266.98974609375,
            367.4304504394531
        ],
        "rotation": [
            -0.02203368954360485,
            -0.16662245988845825,
            -80.1423568725586
        ],
        "velocity": [
            1.0264801979064941,
            -5.837147235870361,
            -0.021674074232578278
        ],
        "speed": 5.9267148952791,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.5006103515625,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3566.365478515625,
                4242.09765625,
                367.6728820800781
            ],
            "velocity": [
                -7.7189483642578125,
                -1.2445499897003174,
                -0.07626242190599442
            ],
            "speed_kmh": 28.148428427033284,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3535.00048828125,
                        "y": 4195.767578125,
                        "z": 367.2758483886719
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.0734996646642685,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.008803367614746,
                "transform": {
                    "location": {
                        "x": 3469.1572265625,
                        "y": 4229.8427734375,
                        "z": 366.715576171875
                    },
                    "rotation": {
                        "roll": -0.00018310909217689186,
                        "pitch": 0.5354321599006653,
                        "yaw": 8.98564624786377
                    }
                },
                "velocity": {
                    "x": 8.897445678710938,
                    "y": 1.407654881477356,
                    "z": 0.11185123026371002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.819007873535156,
                "transform": {
                    "location": {
                        "x": 3566.365478515625,
                        "y": 4242.09765625,
                        "z": 367.6728820800781
                    },
                    "rotation": {
                        "roll": 0.016900094226002693,
                        "pitch": -0.6086722612380981,
                        "yaw": -170.77731323242188
                    }
                },
                "velocity": {
                    "x": -7.7189483642578125,
                    "y": -1.2445499897003174,
                    "z": -0.07626242190599442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.688908100128174,
                "transform": {
                    "location": {
                        "x": 3532.540283203125,
                        "y": 4210.5595703125,
                        "z": 367.2896728515625
                    },
                    "rotation": {
                        "roll": 0.002457714406773448,
                        "pitch": 0.0992494747042656,
                        "yaw": 99.67445373535156
                    }
                },
                "velocity": {
                    "x": -0.9542441368103027,
                    "y": 5.608297824859619,
                    "z": 0.009550237096846104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.737833976745605,
                "transform": {
                    "location": {
                        "x": 3522.808349609375,
                        "y": 4270.18798828125,
                        "z": 367.4445495605469
                    },
                    "rotation": {
                        "roll": 0.007637862581759691,
                        "pitch": 0.24644003808498383,
                        "yaw": 99.24171447753906
                    }
                },
                "velocity": {
                    "x": -1.7246569395065308,
                    "y": 10.598344802856445,
                    "z": 0.04162757843732834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.824090003967285,
                "transform": {
                    "location": {
                        "x": 3491.74169921875,
                        "y": 4233.4150390625,
                        "z": 366.9867248535156
                    },
                    "rotation": {
                        "roll": 1.921766306622885e-05,
                        "pitch": 0.6093348264694214,
                        "yaw": 8.99795913696289
                    }
                },
                "velocity": {
                    "x": 9.702644348144531,
                    "y": 1.5362510681152344,
                    "z": 0.10663717240095139
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.628927230834961,
                "transform": {
                    "location": {
                        "x": 3565.44775390625,
                        "y": 4245.072265625,
                        "z": 367.6734619140625
                    },
                    "rotation": {
                        "roll": -0.0006713892216794193,
                        "pitch": 0.6229268908500671,
                        "yaw": 8.991181373596191
                    }
                },
                "velocity": {
                    "x": 13.460861206054688,
                    "y": 2.1297037601470947,
                    "z": 0.1312752366065979
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.7127275466918945,
                "transform": {
                    "location": {
                        "x": 3513.212646484375,
                        "y": 4236.81103515625,
                        "z": 367.2367248535156
                    },
                    "rotation": {
                        "roll": -0.00033569434890523553,
                        "pitch": 0.4693637490272522,
                        "yaw": 9.003935813903809
                    }
                },
                "velocity": {
                    "x": 5.642297267913818,
                    "y": 0.8929415941238403,
                    "z": 0.04890517145395279
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.124893069267273,
                "transform": {
                    "location": {
                        "x": 3520.33056640625,
                        "y": 4305.38525390625,
                        "z": 367.6419372558594
                    },
                    "rotation": {
                        "roll": 0.0015043368330225348,
                        "pitch": -0.34820985794067383,
                        "yaw": -80.9977798461914
                    }
                },
                "velocity": {
                    "x": 0.17992368340492249,
                    "y": -1.1103992462158203,
                    "z": -0.0050542354583740234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.905911445617676,
                "transform": {
                    "location": {
                        "x": 3514.229248046875,
                        "y": 4322.97998046875,
                        "z": 367.69451904296875
                    },
                    "rotation": {
                        "roll": -0.001007095561362803,
                        "pitch": 0.32585465908050537,
                        "yaw": 99.05705261230469
                    }
                },
                "velocity": {
                    "x": -0.9482499957084656,
                    "y": 5.829219818115234,
                    "z": 0.02834678627550602
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.850142002105713,
                "transform": {
                    "location": {
                        "x": 3522.79052734375,
                        "y": 4290.24365234375,
                        "z": 367.5396423339844
                    },
                    "rotation": {
                        "roll": 0.0006196349859237671,
                        "pitch": -0.3049064576625824,
                        "yaw": -80.79442596435547
                    }
                },
                "velocity": {
                    "x": 0.9368013739585876,
                    "y": -5.7745890617370605,
                    "z": -0.026209654286503792
                },
                "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": 0.5177522897720337,
        "expert_target_speed": 6.754869451016909,
        "target_point": [
            21.288824223214792,
            0.31605852192571104
        ],
        "target_point_next": [
            27.930593967094964,
            6.783252267352268
        ]
    },
    "195": {
        "acceleration": [
            0.2571225166320801,
            -1.1488056182861328,
            0.00803966075181961
        ],
        "angular_velocity": [
            -0.16342732310295105,
            -0.03972560539841652,
            3.6239607334136963
        ],
        "forward_vector": [
            0.1739148646593094,
            -0.9847588539123535,
            -0.0019062744686380029
        ],
        "right_vector": [
            0.9847607016563416,
            0.17391441762447357,
            0.0003989409015048295
        ],
        "location": [
            3526.17431640625,
            4265.49365234375,
            367.4246520996094
        ],
        "rotation": [
            -0.022857671603560448,
            -0.10922154784202576,
            -79.98446655273438
        ],
        "velocity": [
            1.0891140699386597,
            -6.118406295776367,
            -0.021899908781051636
        ],
        "speed": 6.214584866065813,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.98423767089844,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3564.400634765625,
                4241.78125,
                367.65325927734375
            ],
            "velocity": [
                -7.893754005432129,
                -1.2654801607131958,
                -0.0763273686170578
            ],
            "speed_kmh": 28.78168327089545,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.786574363708496,
                "transform": {
                    "location": {
                        "x": 3534.755615234375,
                        "y": 4197.26904296875,
                        "z": 367.27532958984375
                    },
                    "rotation": {
                        "roll": -0.006561278831213713,
                        "pitch": -0.022341547533869743,
                        "yaw": 99.25541687011719
                    }
                },
                "velocity": {
                    "x": -1.1114180088043213,
                    "y": 6.694406032562256,
                    "z": 0.08526165038347244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.781389236450195,
                "transform": {
                    "location": {
                        "x": 3471.353271484375,
                        "y": 4230.18994140625,
                        "z": 366.74407958984375
                    },
                    "rotation": {
                        "roll": -0.0011596743715927005,
                        "pitch": 0.6859148740768433,
                        "yaw": 8.983537673950195
                    }
                },
                "velocity": {
                    "x": 8.672836303710938,
                    "y": 1.3718751668930054,
                    "z": 0.11256913840770721
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.994912147521973,
                "transform": {
                    "location": {
                        "x": 3564.400634765625,
                        "y": 4241.78125,
                        "z": 367.65325927734375
                    },
                    "rotation": {
                        "roll": 0.013432322070002556,
                        "pitch": -0.5229533910751343,
                        "yaw": -170.86764526367188
                    }
                },
                "velocity": {
                    "x": -7.893754005432129,
                    "y": -1.2654801607131958,
                    "z": -0.0763273686170578
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.442716121673584,
                "transform": {
                    "location": {
                        "x": 3532.26220703125,
                        "y": 4212.19677734375,
                        "z": 367.292724609375
                    },
                    "rotation": {
                        "roll": 0.008496401831507683,
                        "pitch": 0.3140862286090851,
                        "yaw": 99.62569427490234
                    }
                },
                "velocity": {
                    "x": -1.2356607913970947,
                    "y": 7.339415073394775,
                    "z": 0.01222214661538601
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.732807159423828,
                "transform": {
                    "location": {
                        "x": 3522.377685546875,
                        "y": 4272.83740234375,
                        "z": 367.45526123046875
                    },
                    "rotation": {
                        "roll": 0.0042702145874500275,
                        "pitch": 0.2455999255180359,
                        "yaw": 99.23157501220703
                    }
                },
                "velocity": {
                    "x": -1.7218297719955444,
                    "y": 10.593709945678711,
                    "z": 0.04189513996243477
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.441499710083008,
                "transform": {
                    "location": {
                        "x": 3493.990478515625,
                        "y": 4233.77099609375,
                        "z": 367.01123046875
                    },
                    "rotation": {
                        "roll": -0.0003967314260080457,
                        "pitch": 0.5780730247497559,
                        "yaw": 8.993736267089844
                    }
                },
                "velocity": {
                    "x": 8.337255477905273,
                    "y": 1.3195135593414307,
                    "z": 0.089238740503788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.461915969848633,
                "transform": {
                    "location": {
                        "x": 3568.787353515625,
                        "y": 4245.60107421875,
                        "z": 367.7061767578125
                    },
                    "rotation": {
                        "roll": -0.0008239731541834772,
                        "pitch": 0.5525281429290771,
                        "yaw": 8.994093894958496
                    }
                },
                "velocity": {
                    "x": 13.2957763671875,
                    "y": 2.1043007373809814,
                    "z": 0.13205483555793762
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.442720890045166,
                "transform": {
                    "location": {
                        "x": 3514.589599609375,
                        "y": 4237.02880859375,
                        "z": 367.24859619140625
                    },
                    "rotation": {
                        "roll": 0.00056595349451527,
                        "pitch": 0.4612767994403839,
                        "yaw": 8.96912670135498
                    }
                },
                "velocity": {
                    "x": 5.375853538513184,
                    "y": 0.8492310643196106,
                    "z": 0.047081220895051956
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0339598655700684,
                "transform": {
                    "location": {
                        "x": 3520.394287109375,
                        "y": 4304.99365234375,
                        "z": 367.63885498046875
                    },
                    "rotation": {
                        "roll": 0.0007012526039034128,
                        "pitch": -0.2015998512506485,
                        "yaw": -81.02840423583984
                    }
                },
                "velocity": {
                    "x": 0.3255099654197693,
                    "y": -2.0077219009399414,
                    "z": -0.009450073353946209
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.471075057983398,
                "transform": {
                    "location": {
                        "x": 3513.98388671875,
                        "y": 4324.49365234375,
                        "z": 367.7023620605469
                    },
                    "rotation": {
                        "roll": 6.990990368649364e-05,
                        "pitch": 0.22154399752616882,
                        "yaw": 99.12848663330078
                    }
                },
                "velocity": {
                    "x": -1.0377713441848755,
                    "y": 6.38724946975708,
                    "z": 0.02980423904955387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.74489688873291,
                "transform": {
                    "location": {
                        "x": 3523.0263671875,
                        "y": 4288.7890625,
                        "z": 367.53240966796875
                    },
                    "rotation": {
                        "roll": 0.0017407553968951106,
                        "pitch": -0.258447527885437,
                        "yaw": -80.79640197753906
                    }
                },
                "velocity": {
                    "x": 0.9204934239387512,
                    "y": -5.670608997344971,
                    "z": -0.02692587859928608
                },
                "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": 0.49141231179237366,
        "expert_target_speed": 6.935072201845329,
        "target_point": [
            19.77037858203172,
            0.25745641015116094
        ],
        "target_point_next": [
            26.429942818797976,
            6.706324872756857
        ]
    },
    "200": {
        "acceleration": [
            0.25061607360839844,
            -1.0577392578125,
            -0.004984214901924133
        ],
        "angular_velocity": [
            -0.033112384378910065,
            0.03300945460796356,
            -2.5241739749908447
        ],
        "forward_vector": [
            0.17563897371292114,
            -0.984453558921814,
            -0.001479625003412366
        ],
        "right_vector": [
            0.9844546914100647,
            0.17563854157924652,
            0.0004191810148768127
        ],
        "location": [
            3526.454833984375,
            4263.92724609375,
            367.4188232421875
        ],
        "rotation": [
            -0.024017328396439552,
            -0.08477630466222763,
            -79.88414764404297
        ],
        "velocity": [
            1.1534793376922607,
            -6.396374225616455,
            -0.0219722893089056
        ],
        "speed": 6.499547508605001,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.458736419677734,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3562.4912109375,
                4241.4755859375,
                367.6353759765625
            ],
            "velocity": [
                -7.372509002685547,
                -1.1791415214538574,
                -0.07150091975927353
            ],
            "speed_kmh": 26.879581736060143,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.868375301361084,
                "transform": {
                    "location": {
                        "x": 3534.512939453125,
                        "y": 4198.703125,
                        "z": 367.30010986328125
                    },
                    "rotation": {
                        "roll": -0.009674073196947575,
                        "pitch": -0.040100038051605225,
                        "yaw": 99.54402923583984
                    }
                },
                "velocity": {
                    "x": -0.9994921684265137,
                    "y": 5.782307147979736,
                    "z": 0.06135101243853569
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.685999870300293,
                "transform": {
                    "location": {
                        "x": 3473.4853515625,
                        "y": 4230.52685546875,
                        "z": 366.7715148925781
                    },
                    "rotation": {
                        "roll": -0.0013427757658064365,
                        "pitch": 0.5713111162185669,
                        "yaw": 8.981618881225586
                    }
                },
                "velocity": {
                    "x": 7.591092586517334,
                    "y": 1.2001315355300903,
                    "z": 0.09795516729354858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.466550350189209,
                "transform": {
                    "location": {
                        "x": 3562.4912109375,
                        "y": 4241.4755859375,
                        "z": 367.6353759765625
                    },
                    "rotation": {
                        "roll": 0.00786641240119934,
                        "pitch": -0.6836540699005127,
                        "yaw": -170.8999481201172
                    }
                },
                "velocity": {
                    "x": -7.372509002685547,
                    "y": -1.1791415214538574,
                    "z": -0.07150091975927353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.581221580505371,
                "transform": {
                    "location": {
                        "x": 3531.97265625,
                        "y": 4213.92724609375,
                        "z": 367.29541015625
                    },
                    "rotation": {
                        "roll": 0.006591574288904667,
                        "pitch": 0.06148536130785942,
                        "yaw": 99.5137939453125
                    }
                },
                "velocity": {
                    "x": -1.0826423168182373,
                    "y": 6.491549491882324,
                    "z": 0.012241773307323456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.716604232788086,
                "transform": {
                    "location": {
                        "x": 3521.947509765625,
                        "y": 4275.4833984375,
                        "z": 367.4662780761719
                    },
                    "rotation": {
                        "roll": 0.001987709663808346,
                        "pitch": 0.24328449368476868,
                        "yaw": 99.23075103759766
                    }
                },
                "velocity": {
                    "x": -1.719012975692749,
                    "y": 10.577738761901855,
                    "z": 0.0450865812599659
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.369344711303711,
                "transform": {
                    "location": {
                        "x": 3495.934326171875,
                        "y": 4234.07861328125,
                        "z": 367.0318908691406
                    },
                    "rotation": {
                        "roll": -0.0003051755775231868,
                        "pitch": 0.56573086977005,
                        "yaw": 8.985870361328125
                    }
                },
                "velocity": {
                    "x": 7.278667449951172,
                    "y": 1.1500223875045776,
                    "z": 0.07542535662651062
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.474608421325684,
                "transform": {
                    "location": {
                        "x": 3572.11083984375,
                        "y": 4246.126953125,
                        "z": 367.7389831542969
                    },
                    "rotation": {
                        "roll": -0.0008544918964616954,
                        "pitch": 0.5629714727401733,
                        "yaw": 8.992594718933105
                    }
                },
                "velocity": {
                    "x": 13.30832576751709,
                    "y": 2.106285810470581,
                    "z": 0.13064990937709808
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.165004253387451,
                "transform": {
                    "location": {
                        "x": 3515.897216796875,
                        "y": 4237.2353515625,
                        "z": 367.2597961425781
                    },
                    "rotation": {
                        "roll": 0.0006377355311997235,
                        "pitch": 0.45349037647247314,
                        "yaw": 9.000685691833496
                    }
                },
                "velocity": {
                    "x": 5.101129531860352,
                    "y": 0.8085436224937439,
                    "z": 0.04476620629429817
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.146517515182495,
                "transform": {
                    "location": {
                        "x": 3520.4970703125,
                        "y": 4304.35498046875,
                        "z": 367.6354675292969
                    },
                    "rotation": {
                        "roll": -0.0008239747257903218,
                        "pitch": -0.1600928008556366,
                        "yaw": -80.97783660888672
                    }
                },
                "velocity": {
                    "x": 0.5042297840118408,
                    "y": -3.105822801589966,
                    "z": -0.013744382187724113
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.511373519897461,
                "transform": {
                    "location": {
                        "x": 3513.708251953125,
                        "y": 4326.1904296875,
                        "z": 367.7108154296875
                    },
                    "rotation": {
                        "roll": 0.0008491873159073293,
                        "pitch": 0.1462070196866989,
                        "yaw": 99.1698989868164
                    }
                },
                "velocity": {
                    "x": -1.2070484161376953,
                    "y": 7.413677215576172,
                    "z": 0.03405804559588432
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.508512020111084,
                "transform": {
                    "location": {
                        "x": 3523.248291015625,
                        "y": 4287.4208984375,
                        "z": 367.5257873535156
                    },
                    "rotation": {
                        "roll": 0.0005833196337334812,
                        "pitch": -0.2494180053472519,
                        "yaw": -80.79268646240234
                    }
                },
                "velocity": {
                    "x": 0.8835467100143433,
                    "y": -5.437131404876709,
                    "z": -0.025532765313982964
                },
                "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": 0.458651602268219,
        "expert_target_speed": 7.125625906731829,
        "target_point": [
            18.17947339375859,
            0.22179943785489709
        ],
        "target_point_next": [
            24.850320667669585,
            6.658995793393599
        ]
    },
    "205": {
        "acceleration": [
            -0.16929388046264648,
            1.2788200378417969,
            0.0007607415318489075
        ],
        "angular_velocity": [
            0.6495806574821472,
            0.09439703822135925,
            3.7141294479370117
        ],
        "forward_vector": [
            0.1784965991973877,
            -0.9839376211166382,
            -0.0024021840654313564
        ],
        "right_vector": [
            0.9839404821395874,
            0.1784960776567459,
            0.0004314308753237128
        ],
        "location": [
            3526.748046875,
            4262.3095703125,
            367.4132080078125
        ],
        "rotation": [
            -0.02471923828125,
            -0.13763514161109924,
            -79.71776580810547
        ],
        "velocity": [
            1.1733578443527222,
            -6.421844959259033,
            -0.02164442464709282
        ],
        "speed": 6.528159105878526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.98053741455078,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3560.693603515625,
                4241.1884765625,
                367.6178894042969
            ],
            "velocity": [
                -7.115458011627197,
                -1.1324031352996826,
                -0.06876391172409058
            ],
            "speed_kmh": 25.939194905567494,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 3577.5498046875,
                        "y": 4243.95068359375,
                        "z": 367.8689880371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5571863055229187,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 1.1740444172403386e-08,
                    "y": 1.8570640580861664e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.594332218170166,
                "transform": {
                    "location": {
                        "x": 3534.27001953125,
                        "y": 4200.1181640625,
                        "z": 367.3076477050781
                    },
                    "rotation": {
                        "roll": -0.0033874514047056437,
                        "pitch": 0.04932762309908867,
                        "yaw": 99.73558807373047
                    }
                },
                "velocity": {
                    "x": -0.9576185345649719,
                    "y": 5.5117340087890625,
                    "z": 0.017464742064476013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.0420823097229,
                "transform": {
                    "location": {
                        "x": 3475.25146484375,
                        "y": 4230.80615234375,
                        "z": 366.7942199707031
                    },
                    "rotation": {
                        "roll": -0.0002136219118256122,
                        "pitch": 0.6013434529304504,
                        "yaw": 8.979706764221191
                    }
                },
                "velocity": {
                    "x": 6.955015659332275,
                    "y": 1.100294589996338,
                    "z": 0.08962978422641754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.205331802368164,
                "transform": {
                    "location": {
                        "x": 3560.693603515625,
                        "y": 4241.1884765625,
                        "z": 367.6178894042969
                    },
                    "rotation": {
                        "roll": 0.006778864189982414,
                        "pitch": -0.692956805229187,
                        "yaw": -170.9422149658203
                    }
                },
                "velocity": {
                    "x": -7.115458011627197,
                    "y": -1.1324031352996826,
                    "z": -0.06876391172409058
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.210909366607666,
                "transform": {
                    "location": {
                        "x": 3531.731689453125,
                        "y": 4215.37548828125,
                        "z": 367.29791259765625
                    },
                    "rotation": {
                        "roll": 0.002676552627235651,
                        "pitch": -0.07458566129207611,
                        "yaw": 99.43930053710938
                    }
                },
                "velocity": {
                    "x": -0.8534574508666992,
                    "y": 5.140533447265625,
                    "z": 0.009942473843693733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.732026100158691,
                "transform": {
                    "location": {
                        "x": 3521.517333984375,
                        "y": 4278.1298828125,
                        "z": 367.4776611328125
                    },
                    "rotation": {
                        "roll": 0.0006448724307119846,
                        "pitch": 0.2586319148540497,
                        "yaw": 99.2306900024414
                    }
                },
                "velocity": {
                    "x": -1.7214393615722656,
                    "y": 10.59296703338623,
                    "z": 0.04552813246846199
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.398038864135742,
                "transform": {
                    "location": {
                        "x": 3497.72314453125,
                        "y": 4234.361328125,
                        "z": 367.0503845214844
                    },
                    "rotation": {
                        "roll": -0.000244145339820534,
                        "pitch": 0.5869317650794983,
                        "yaw": 8.981512069702148
                    }
                },
                "velocity": {
                    "x": 7.307073593139648,
                    "y": 1.1541210412979126,
                    "z": 0.07522332668304443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4008,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.495163917541504,
                "transform": {
                    "location": {
                        "x": 3575.44140625,
                        "y": 4246.65380859375,
                        "z": 367.77178955078125
                    },
                    "rotation": {
                        "roll": -0.0011291512055322528,
                        "pitch": 0.5689001083374023,
                        "yaw": 8.994701385498047
                    }
                },
                "velocity": {
                    "x": 13.328644752502441,
                    "y": 2.1094157695770264,
                    "z": 0.13062596321105957
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.040133953094482,
                "transform": {
                    "location": {
                        "x": 3517.148681640625,
                        "y": 4237.43408203125,
                        "z": 367.2703857421875
                    },
                    "rotation": {
                        "roll": 0.0009282396058551967,
                        "pitch": 0.46753326058387756,
                        "yaw": 8.959664344787598
                    }
                },
                "velocity": {
                    "x": 4.978304862976074,
                    "y": 0.7858654856681824,
                    "z": 0.04298374056816101
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.50239372253418,
                "transform": {
                    "location": {
                        "x": 3520.651123046875,
                        "y": 4303.40185546875,
                        "z": 367.6307678222656
                    },
                    "rotation": {
                        "roll": -0.001220705802552402,
                        "pitch": -0.12826411426067352,
                        "yaw": -80.89656829833984
                    }
                },
                "velocity": {
                    "x": 0.7216485142707825,
                    "y": -4.444132328033447,
                    "z": -0.0214017815887928
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.626738548278809,
                "transform": {
                    "location": {
                        "x": 3513.4228515625,
                        "y": 4327.95068359375,
                        "z": 367.7176208496094
                    },
                    "rotation": {
                        "roll": -0.0028686525765806437,
                        "pitch": 0.3028915524482727,
                        "yaw": 99.09800720214844
                    }
                },
                "velocity": {
                    "x": -1.0547494888305664,
                    "y": 6.542185306549072,
                    "z": 0.03123614192008972
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.205382823944092,
                "transform": {
                    "location": {
                        "x": 3523.47998046875,
                        "y": 4285.9931640625,
                        "z": 367.51953125
                    },
                    "rotation": {
                        "roll": 0.0006763980491086841,
                        "pitch": -0.29970869421958923,
                        "yaw": -80.73825073242188
                    }
                },
                "velocity": {
                    "x": 0.9973409175872803,
                    "y": -6.124647617340088,
                    "z": -0.027874087914824486
                },
                "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": 0.41069158911705017,
        "expert_target_speed": 7.086788950693621,
        "target_point": [
            16.536006580258995,
            0.16925144971151207
        ],
        "target_point_next": [
            23.225519495559414,
            6.587048363578089
        ]
    },
    "210": {
        "acceleration": [
            0.0488591194152832,
            0.0047397613525390625,
            -0.011132881045341492
        ],
        "angular_velocity": [
            -0.13148212432861328,
            -0.056359343230724335,
            -2.7381389141082764
        ],
        "forward_vector": [
            0.18001072108745575,
            -0.9836535453796387,
            -0.004671198781579733
        ],
        "right_vector": [
            0.9836645126342773,
            0.18001064658164978,
            0.0004404818173497915
        ],
        "location": [
            3527.03271484375,
            4260.75927734375,
            367.4083251953125
        ],
        "rotation": [
            -0.025238024070858955,
            -0.26764094829559326,
            -79.62950134277344
        ],
        "velocity": [
            1.1319941282272339,
            -6.117861747741699,
            -0.02183843031525612
        ],
        "speed": 6.22170740800482,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.56313705444336,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3558.920166015625,
                4240.90625,
                367.60064697265625
            ],
            "velocity": [
                -7.01602029800415,
                -1.1164220571517944,
                -0.06803271174430847
            ],
            "speed_kmh": 25.576617340084844,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15443815290927887,
                "transform": {
                    "location": {
                        "x": 3577.55078125,
                        "y": 4243.95068359375,
                        "z": 367.7507629394531
                    },
                    "rotation": {
                        "roll": -0.00033568922663107514,
                        "pitch": -0.5615849494934082,
                        "yaw": -171.01150512695312
                    }
                },
                "velocity": {
                    "x": -0.0014880928210914135,
                    "y": -0.00020570449123624712,
                    "z": 0.15443085134029388
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6371335983276367,
                "transform": {
                    "location": {
                        "x": 3534.07080078125,
                        "y": 4201.2587890625,
                        "z": 367.31146240234375
                    },
                    "rotation": {
                        "roll": 0.0015269102295860648,
                        "pitch": -0.10980211198329926,
                        "yaw": 99.60060119628906
                    }
                },
                "velocity": {
                    "x": -0.6227028965950012,
                    "y": 3.5834274291992188,
                    "z": 0.005561666563153267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.832274436950684,
                "transform": {
                    "location": {
                        "x": 3477.039306640625,
                        "y": 4231.0888671875,
                        "z": 366.8172302246094
                    },
                    "rotation": {
                        "roll": -0.0005187884671613574,
                        "pitch": 0.7764626741409302,
                        "yaw": 8.983798027038574
                    }
                },
                "velocity": {
                    "x": 7.7356133460998535,
                    "y": 1.2228394746780396,
                    "z": 0.09733976423740387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.104615688323975,
                "transform": {
                    "location": {
                        "x": 3558.920166015625,
                        "y": 4240.90625,
                        "z": 367.60064697265625
                    },
                    "rotation": {
                        "roll": 0.002874326426535845,
                        "pitch": -0.6307952404022217,
                        "yaw": -170.95785522460938
                    }
                },
                "velocity": {
                    "x": -7.01602029800415,
                    "y": -1.1164220571517944,
                    "z": -0.06803271174430847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.561833381652832,
                "transform": {
                    "location": {
                        "x": 3531.517333984375,
                        "y": 4216.66650390625,
                        "z": 367.3006286621094
                    },
                    "rotation": {
                        "roll": 0.00253622536547482,
                        "pitch": 0.1032724529504776,
                        "yaw": 99.45882415771484
                    }
                },
                "velocity": {
                    "x": -0.9096612334251404,
                    "y": 5.4869303703308105,
                    "z": 0.010160388424992561
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.72099494934082,
                "transform": {
                    "location": {
                        "x": 3521.087158203125,
                        "y": 4280.77685546875,
                        "z": 367.48931884765625
                    },
                    "rotation": {
                        "roll": -0.000946057727560401,
                        "pitch": 0.2625456154346466,
                        "yaw": 99.23474884033203
                    }
                },
                "velocity": {
                    "x": -1.72049081325531,
                    "y": 10.58193302154541,
                    "z": 0.048255957663059235
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.667001724243164,
                "transform": {
                    "location": {
                        "x": 3499.70361328125,
                        "y": 4234.673828125,
                        "z": 367.07037353515625
                    },
                    "rotation": {
                        "roll": -3.052069223485887e-05,
                        "pitch": 0.590790867805481,
                        "yaw": 8.979491233825684
                    }
                },
                "velocity": {
                    "x": 8.5603609085083,
                    "y": 1.3526906967163086,
                    "z": 0.08583396673202515
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.290543556213379,
                "transform": {
                    "location": {
                        "x": 3518.301513671875,
                        "y": 4237.6162109375,
                        "z": 367.2803039550781
                    },
                    "rotation": {
                        "roll": 0.0009213126031681895,
                        "pitch": 0.41515254974365234,
                        "yaw": 8.91964340209961
                    }
                },
                "velocity": {
                    "x": 4.237716197967529,
                    "y": 0.6701734066009521,
                    "z": 0.03730207309126854
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.235560417175293,
                "transform": {
                    "location": {
                        "x": 3520.853759765625,
                        "y": 4302.15234375,
                        "z": 367.62554931640625
                    },
                    "rotation": {
                        "roll": -0.00027465613675303757,
                        "pitch": -0.16818657517433167,
                        "yaw": -80.83136749267578
                    }
                },
                "velocity": {
                    "x": 0.8397341966629028,
                    "y": -5.167717933654785,
                    "z": -0.02508452907204628
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.864236831665039,
                "transform": {
                    "location": {
                        "x": 3513.17919921875,
                        "y": 4329.4638671875,
                        "z": 367.7243347167969
                    },
                    "rotation": {
                        "roll": 0.00043368461774662137,
                        "pitch": 0.3401434123516083,
                        "yaw": 99.15343475341797
                    }
                },
                "velocity": {
                    "x": -0.9383777379989624,
                    "y": 5.788610935211182,
                    "z": 0.02654011733829975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.0379438400268555,
                "transform": {
                    "location": {
                        "x": 3523.75927734375,
                        "y": 4284.27783203125,
                        "z": 367.5118713378906
                    },
                    "rotation": {
                        "roll": -0.0014343507355079055,
                        "pitch": -0.33407819271087646,
                        "yaw": -80.74701690673828
                    }
                },
                "velocity": {
                    "x": 1.1291362047195435,
                    "y": -6.946699142456055,
                    "z": -0.03277386724948883
                },
                "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": 0.39889833331108093,
        "expert_target_speed": 6.768888009252548,
        "target_point": [
            14.960035971764796,
            0.1428368154856745
        ],
        "target_point_next": [
            21.659425632574237,
            6.55032294065567
        ]
    },
    "215": {
        "acceleration": [
            -0.3914499282836914,
            2.3229122161865234,
            -0.07263220846652985
        ],
        "angular_velocity": [
            -0.04342297837138176,
            0.011427056044340134,
            0.5625559091567993
        ],
        "forward_vector": [
            0.1818152666091919,
            -0.9832886457443237,
            -0.009307608008384705
        ],
        "right_vector": [
            0.9833317399024963,
            0.1818200945854187,
            0.00033288024133071303
        ],
        "location": [
            3527.279296875,
            4259.43115234375,
            367.4046936035156
        ],
        "rotation": [
            -0.01907346025109291,
            -0.5332943201065063,
            -79.52403259277344
        ],
        "velocity": [
            0.914853036403656,
            -4.895545482635498,
            -0.020854663103818893
        ],
        "speed": 4.980293329791913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.347991943359375,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3557.215576171875,
                4240.6357421875,
                367.5844421386719
            ],
            "velocity": [
                -6.640904426574707,
                -1.0540854930877686,
                -0.0641518384218216
            ],
            "speed_kmh": 24.207644036804083,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.136446237564087,
                "transform": {
                    "location": {
                        "x": 3577.461181640625,
                        "y": 4243.93505859375,
                        "z": 367.7777404785156
                    },
                    "rotation": {
                        "roll": -0.006072995252907276,
                        "pitch": -0.4144900143146515,
                        "yaw": -170.97560119628906
                    }
                },
                "velocity": {
                    "x": -1.1191753149032593,
                    "y": -0.1920628845691681,
                    "z": 0.04548100382089615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3441286087036133,
                "transform": {
                    "location": {
                        "x": 3533.920166015625,
                        "y": 4202.13720703125,
                        "z": 367.31201171875
                    },
                    "rotation": {
                        "roll": 0.005346864927560091,
                        "pitch": 0.00025954717420972884,
                        "yaw": 99.65540313720703
                    }
                },
                "velocity": {
                    "x": -0.5549159049987793,
                    "y": 3.297762155532837,
                    "z": 0.00535661680623889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.736699104309082,
                "transform": {
                    "location": {
                        "x": 3479.251220703125,
                        "y": 4231.43896484375,
                        "z": 366.8451232910156
                    },
                    "rotation": {
                        "roll": -0.0003051717358175665,
                        "pitch": 0.939758837223053,
                        "yaw": 8.995450973510742
                    }
                },
                "velocity": {
                    "x": 9.616293907165527,
                    "y": 1.521747350692749,
                    "z": 0.12041085958480835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.724345684051514,
                "transform": {
                    "location": {
                        "x": 3557.215576171875,
                        "y": 4240.6357421875,
                        "z": 367.5844421386719
                    },
                    "rotation": {
                        "roll": 0.003099872265011072,
                        "pitch": -0.6730672717094421,
                        "yaw": -170.9675750732422
                    }
                },
                "velocity": {
                    "x": -6.640904426574707,
                    "y": -1.0540854930877686,
                    "z": -0.0641518384218216
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.812575340270996,
                "transform": {
                    "location": {
                        "x": 3531.28125,
                        "y": 4218.10009765625,
                        "z": 367.3033142089844
                    },
                    "rotation": {
                        "roll": 0.0033463214058429003,
                        "pitch": 0.13441811501979828,
                        "yaw": 99.4009780883789
                    }
                },
                "velocity": {
                    "x": -0.9444088339805603,
                    "y": 5.735330104827881,
                    "z": 0.010559901595115662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.730548858642578,
                "transform": {
                    "location": {
                        "x": 3520.65673828125,
                        "y": 4283.423828125,
                        "z": 367.50152587890625
                    },
                    "rotation": {
                        "roll": -0.00030518751009367406,
                        "pitch": 0.27286604046821594,
                        "yaw": 99.23583221435547
                    }
                },
                "velocity": {
                    "x": -1.7222440242767334,
                    "y": 10.591325759887695,
                    "z": 0.048816222697496414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.386927604675293,
                "transform": {
                    "location": {
                        "x": 3501.814208984375,
                        "y": 4235.0078125,
                        "z": 367.091552734375
                    },
                    "rotation": {
                        "roll": -0.00027466152096167207,
                        "pitch": 0.5624455809593201,
                        "yaw": 8.990621566772461
                    }
                },
                "velocity": {
                    "x": 8.283473014831543,
                    "y": 1.3106303215026855,
                    "z": 0.08297357708215714
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.717046737670898,
                "transform": {
                    "location": {
                        "x": 3519.43310546875,
                        "y": 4237.794921875,
                        "z": 367.2893371582031
                    },
                    "rotation": {
                        "roll": 7.585868297610432e-05,
                        "pitch": 0.5009328722953796,
                        "yaw": 8.950238227844238
                    }
                },
                "velocity": {
                    "x": 4.658966541290283,
                    "y": 0.7368577122688293,
                    "z": 0.04001716524362564
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.861934661865234,
                "transform": {
                    "location": {
                        "x": 3521.076904296875,
                        "y": 4300.77978515625,
                        "z": 367.619140625
                    },
                    "rotation": {
                        "roll": -0.0006713900365866721,
                        "pitch": -0.19323286414146423,
                        "yaw": -80.83909606933594
                    }
                },
                "velocity": {
                    "x": 0.9406580924987793,
                    "y": -5.785905838012695,
                    "z": -0.027056965976953506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3512.968994140625,
                        "y": 4330.90673828125,
                        "z": 367.730224609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.0221171379089355,
                "transform": {
                    "location": {
                        "x": 3524.022216796875,
                        "y": 4282.66162109375,
                        "z": 367.5032043457031
                    },
                    "rotation": {
                        "roll": 0.00017564489098731428,
                        "pitch": -0.193109929561615,
                        "yaw": -80.75739288330078
                    }
                },
                "velocity": {
                    "x": 0.967178225517273,
                    "y": -5.943874359130859,
                    "z": -0.028583435341715813
                },
                "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": 0.35022205114364624,
        "expert_target_speed": 10.0,
        "target_point": [
            13.60945241130706,
            0.11431144063630327
        ],
        "target_point_next": [
            20.320624853266757,
            6.509455279979337
        ]
    },
    "220": {
        "acceleration": [
            0.0008165836334228516,
            0.2364635467529297,
            0.07820861041545868
        ],
        "angular_velocity": [
            -0.44389525055885315,
            -0.12686963379383087,
            -2.939976215362549
        ],
        "forward_vector": [
            0.18356846272945404,
            -0.9829896688461304,
            -0.005830731242895126
        ],
        "right_vector": [
            0.9830066561698914,
            0.18356965482234955,
            0.00033342180540785193
        ],
        "location": [
            3527.510498046875,
            4258.19873046875,
            367.3997497558594
        ],
        "rotation": [
            -0.019103987142443657,
            -0.33407819271087646,
            -79.42213439941406
        ],
        "velocity": [
            0.9269327521324158,
            -4.910412311553955,
            -0.01480106357485056
        ],
        "speed": 4.997134518545247,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.25150680541992,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3555.58154296875,
                4240.3759765625,
                367.56878662109375
            ],
            "velocity": [
                -6.4714531898498535,
                -1.0258293151855469,
                -0.06095636263489723
            ],
            "speed_kmh": 23.58913504437859,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.261024236679077,
                "transform": {
                    "location": {
                        "x": 3577.03125,
                        "y": 4243.86279296875,
                        "z": 367.7799987792969
                    },
                    "rotation": {
                        "roll": -0.0013427723897621036,
                        "pitch": -0.38326922059059143,
                        "yaw": -170.9115447998047
                    }
                },
                "velocity": {
                    "x": -2.2308781147003174,
                    "y": -0.3677729070186615,
                    "z": -0.012506341561675072
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.1751389503479,
                "transform": {
                    "location": {
                        "x": 3533.767822265625,
                        "y": 4203.0419921875,
                        "z": 367.3123474121094
                    },
                    "rotation": {
                        "roll": 0.003219267586246133,
                        "pitch": 0.12379717081785202,
                        "yaw": 99.61776733398438
                    }
                },
                "velocity": {
                    "x": -0.6933693289756775,
                    "y": 4.117158889770508,
                    "z": 0.005358113907277584
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.257283210754395,
                "transform": {
                    "location": {
                        "x": 3481.77490234375,
                        "y": 4231.83837890625,
                        "z": 366.87591552734375
                    },
                    "rotation": {
                        "roll": -0.00012206209794385359,
                        "pitch": 0.8197045922279358,
                        "yaw": 8.98092269897461
                    }
                },
                "velocity": {
                    "x": 10.130439758300781,
                    "y": 1.6033952236175537,
                    "z": 0.12316881120204926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.552537441253662,
                "transform": {
                    "location": {
                        "x": 3555.58154296875,
                        "y": 4240.3759765625,
                        "z": 367.56878662109375
                    },
                    "rotation": {
                        "roll": 0.0024584869388490915,
                        "pitch": -0.6520985960960388,
                        "yaw": -170.98255920410156
                    }
                },
                "velocity": {
                    "x": -6.4714531898498535,
                    "y": -1.0258293151855469,
                    "z": -0.06095636263489723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3103203773498535,
                "transform": {
                    "location": {
                        "x": 3531.05615234375,
                        "y": 4219.46875,
                        "z": 367.3058166503906
                    },
                    "rotation": {
                        "roll": 0.002174729248508811,
                        "pitch": 0.05677935853600502,
                        "yaw": 99.34126281738281
                    }
                },
                "velocity": {
                    "x": -0.8599459528923035,
                    "y": 5.240220069885254,
                    "z": 0.009490881115198135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.720263481140137,
                "transform": {
                    "location": {
                        "x": 3520.226806640625,
                        "y": 4286.0703125,
                        "z": 367.51397705078125
                    },
                    "rotation": {
                        "roll": 0.00027886699535883963,
                        "pitch": 0.2749287486076355,
                        "yaw": 99.2310562133789
                    }
                },
                "velocity": {
                    "x": -1.7197390794754028,
                    "y": 10.58130931854248,
                    "z": 0.04936714097857475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.414126396179199,
                "transform": {
                    "location": {
                        "x": 3503.771484375,
                        "y": 4235.3173828125,
                        "z": 367.1109313964844
                    },
                    "rotation": {
                        "roll": -0.0004882794455625117,
                        "pitch": 0.5313408970832825,
                        "yaw": 8.9876127243042
                    }
                },
                "velocity": {
                    "x": 7.3228020668029785,
                    "y": 1.1579667329788208,
                    "z": 0.070431649684906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.130749702453613,
                "transform": {
                    "location": {
                        "x": 3520.501220703125,
                        "y": 4237.9638671875,
                        "z": 367.2989501953125
                    },
                    "rotation": {
                        "roll": 0.002584626665338874,
                        "pitch": 0.44273966550827026,
                        "yaw": 8.966545104980469
                    }
                },
                "velocity": {
                    "x": 4.079809665679932,
                    "y": 0.6456893086433411,
                    "z": 0.036485135555267334
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.075632095336914,
                "transform": {
                    "location": {
                        "x": 3521.35205078125,
                        "y": 4299.08447265625,
                        "z": 367.6099548339844
                    },
                    "rotation": {
                        "roll": -0.000335689983330667,
                        "pitch": -0.06103456765413284,
                        "yaw": -80.79814147949219
                    }
                },
                "velocity": {
                    "x": 1.2950435876846313,
                    "y": -7.971029281616211,
                    "z": -0.03713584318757057
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3512.77294921875,
                        "y": 4332.28662109375,
                        "z": 367.7357482910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.052037239074707,
                "transform": {
                    "location": {
                        "x": 3524.251220703125,
                        "y": 4281.2548828125,
                        "z": 367.49664306640625
                    },
                    "rotation": {
                        "roll": -6.103172563598491e-05,
                        "pitch": -0.1654135137796402,
                        "yaw": -80.75840759277344
                    }
                },
                "velocity": {
                    "x": 0.8114109039306641,
                    "y": -4.986400127410889,
                    "z": -0.022476080805063248
                },
                "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": 0.32993388175964355,
        "expert_target_speed": 10.0,
        "target_point": [
            12.355713692135607,
            0.0890734289610462
        ],
        "target_point_next": [
            19.07824850565305,
            6.472272153162921
        ]
    },
    "225": {
        "acceleration": [
            0.7038068771362305,
            -3.3413314819335938,
            -0.004602614790201187
        ],
        "angular_velocity": [
            -1.018367052078247,
            -0.23431938886642456,
            0.4951111078262329
        ],
        "forward_vector": [
            0.18641091883182526,
            -0.9824644327163696,
            -0.0038189792539924383
        ],
        "right_vector": [
            0.9824718236923218,
            0.1864107996225357,
            0.00038881870568729937
        ],
        "location": [
            3527.746826171875,
            4256.95361328125,
            367.3952941894531
        ],
        "rotation": [
            -0.02227783203125,
            -0.21881192922592163,
            -79.25651550292969
        ],
        "velocity": [
            0.9756911396980286,
            -5.093354225158691,
            -0.0157566349953413
        ],
        "speed": 5.185964757210285,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.173927307128906,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3553.98681640625,
                4240.12353515625,
                367.5537109375
            ],
            "velocity": [
                -6.263960361480713,
                -0.9930467009544373,
                -0.059683315455913544
            ],
            "speed_kmh": 22.832885630855763,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.754399538040161,
                "transform": {
                    "location": {
                        "x": 3576.28955078125,
                        "y": 4243.740234375,
                        "z": 367.77374267578125
                    },
                    "rotation": {
                        "roll": -0.005828856024891138,
                        "pitch": -0.3393237888813019,
                        "yaw": -170.7756805419922
                    }
                },
                "velocity": {
                    "x": -3.703547239303589,
                    "y": -0.6148668527603149,
                    "z": -0.034527476876974106
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.348392486572266,
                "transform": {
                    "location": {
                        "x": 3533.567138671875,
                        "y": 4204.23046875,
                        "z": 367.3137512207031
                    },
                    "rotation": {
                        "roll": 0.0011657681316137314,
                        "pitch": 0.19865603744983673,
                        "yaw": 99.5896224975586
                    }
                },
                "velocity": {
                    "x": -0.888516902923584,
                    "y": 5.2740631103515625,
                    "z": 0.009747123345732689
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.911064147949219,
                "transform": {
                    "location": {
                        "x": 3484.140625,
                        "y": 4232.212890625,
                        "z": 366.90380859375
                    },
                    "rotation": {
                        "roll": 0.0004693360242526978,
                        "pitch": 0.538246214389801,
                        "yaw": 9.002913475036621
                    }
                },
                "velocity": {
                    "x": 8.80084228515625,
                    "y": 1.3933061361312866,
                    "z": 0.10459058731794357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.34246826171875,
                "transform": {
                    "location": {
                        "x": 3553.98681640625,
                        "y": 4240.12353515625,
                        "z": 367.5537109375
                    },
                    "rotation": {
                        "roll": 0.0009587499080225825,
                        "pitch": -0.6349138617515564,
                        "yaw": -170.99099731445312
                    }
                },
                "velocity": {
                    "x": -6.263960361480713,
                    "y": -0.9930467009544373,
                    "z": -0.059683315455913544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.369738578796387,
                "transform": {
                    "location": {
                        "x": 3530.842041015625,
                        "y": 4220.775390625,
                        "z": 367.3084411621094
                    },
                    "rotation": {
                        "roll": 0.0011368048144504428,
                        "pitch": 0.10360030084848404,
                        "yaw": 99.3159408569336
                    }
                },
                "velocity": {
                    "x": -0.8681312203407288,
                    "y": 5.299088478088379,
                    "z": 0.010056352242827415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.730958938598633,
                "transform": {
                    "location": {
                        "x": 3519.79638671875,
                        "y": 4288.716796875,
                        "z": 367.5265197753906
                    },
                    "rotation": {
                        "roll": 0.0007334535475820303,
                        "pitch": 0.27866488695144653,
                        "yaw": 99.23529815673828
                    }
                },
                "velocity": {
                    "x": -1.7221870422363281,
                    "y": 10.591748237609863,
                    "z": 0.049160804599523544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.138024806976318,
                "transform": {
                    "location": {
                        "x": 3505.43798828125,
                        "y": 4235.5810546875,
                        "z": 367.12701416015625
                    },
                    "rotation": {
                        "roll": 0.0019830854143947363,
                        "pitch": 0.501568078994751,
                        "yaw": 8.98698902130127
                    }
                },
                "velocity": {
                    "x": 6.062406539916992,
                    "y": 0.9587947130203247,
                    "z": 0.05730674788355827
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.0593390464782715,
                "transform": {
                    "location": {
                        "x": 3521.540771484375,
                        "y": 4238.12841796875,
                        "z": 367.3076477050781
                    },
                    "rotation": {
                        "roll": -0.0035095219500362873,
                        "pitch": 0.4716108739376068,
                        "yaw": 8.972111701965332
                    }
                },
                "velocity": {
                    "x": 4.0095319747924805,
                    "y": 0.6328906416893005,
                    "z": 0.03654037415981293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.105892181396484,
                "transform": {
                    "location": {
                        "x": 3521.685546875,
                        "y": 4297.03076171875,
                        "z": 367.6015930175781
                    },
                    "rotation": {
                        "roll": 0.00011437974899308756,
                        "pitch": -0.20888766646385193,
                        "yaw": -80.77928161621094
                    }
                },
                "velocity": {
                    "x": 1.298959732055664,
                    "y": -8.001051902770996,
                    "z": -0.03681252896785736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3512.586181640625,
                        "y": 4333.6064453125,
                        "z": 367.7409973144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.6266188621521,
                "transform": {
                    "location": {
                        "x": 3524.431396484375,
                        "y": 4280.1455078125,
                        "z": 367.49169921875
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.1932055503129959,
                        "yaw": -80.76127624511719
                    }
                },
                "velocity": {
                    "x": 0.7427875995635986,
                    "y": -4.566560745239258,
                    "z": -0.019817762076854706
                },
                "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": 0.28037500381469727,
        "expert_target_speed": 10.0,
        "target_point": [
            11.088572807596782,
            0.05327448787307576
        ],
        "target_point_next": [
            17.82953202828679,
            6.417013094745677
        ]
    },
    "230": {
        "acceleration": [
            0.28931498527526855,
            -1.2439155578613281,
            -0.09037911891937256
        ],
        "angular_velocity": [
            -0.42240992188453674,
            -0.06682926416397095,
            0.4295315444469452
        ],
        "forward_vector": [
            0.1882757693529129,
            -0.9821091890335083,
            -0.0037076387088745832
        ],
        "right_vector": [
            0.9821161031723022,
            0.18827570974826813,
            0.0003664485120680183
        ],
        "location": [
            3527.98681640625,
            4255.705078125,
            367.3912658691406
        ],
        "rotation": [
            -0.0209960974752903,
            -0.21243253350257874,
            -79.14775085449219
        ],
        "velocity": [
            0.9650276899337769,
            -4.984236240386963,
            -0.021849993616342545
        ],
        "speed": 5.076799123692574,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.139375686645508,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3552.454345703125,
                4239.88037109375,
                367.5392761230469
            ],
            "velocity": [
                -6.017292499542236,
                -0.9539986848831177,
                -0.056543439626693726
            ],
            "speed_kmh": 21.933757338991544,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 3535.93017578125,
                        "y": 4190.04638671875,
                        "z": 367.6075439453125
                    },
                    "rotation": {
                        "roll": 6.670112018269947e-09,
                        "pitch": 0.072987399995327,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.182323455810547,
                "transform": {
                    "location": {
                        "x": 3575.177490234375,
                        "y": 4243.5546875,
                        "z": 367.7630920410156
                    },
                    "rotation": {
                        "roll": -0.008514404296875,
                        "pitch": -0.3320906162261963,
                        "yaw": -170.6150665283203
                    }
                },
                "velocity": {
                    "x": -5.111196041107178,
                    "y": -0.8544461727142334,
                    "z": -0.045547425746917725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.000022888183594,
                "transform": {
                    "location": {
                        "x": 3533.3544921875,
                        "y": 4205.494140625,
                        "z": 367.31646728515625
                    },
                    "rotation": {
                        "roll": 0.0008526910678483546,
                        "pitch": 0.10343638062477112,
                        "yaw": 99.61882781982422
                    }
                },
                "velocity": {
                    "x": -0.8302820324897766,
                    "y": 4.930596351623535,
                    "z": 0.009094304405152798
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.809110641479492,
                "transform": {
                    "location": {
                        "x": 3486.2919921875,
                        "y": 4232.55322265625,
                        "z": 366.9291687011719
                    },
                    "rotation": {
                        "roll": -0.0002441399119561538,
                        "pitch": 0.6141569018363953,
                        "yaw": 8.979825973510742
                    }
                },
                "velocity": {
                    "x": 8.700385093688965,
                    "y": 1.37605881690979,
                    "z": 0.1009296178817749
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.092710494995117,
                "transform": {
                    "location": {
                        "x": 3552.454345703125,
                        "y": 4239.88037109375,
                        "z": 367.5392761230469
                    },
                    "rotation": {
                        "roll": 2.2322954464470968e-05,
                        "pitch": -0.651818573474884,
                        "yaw": -170.99124145507812
                    }
                },
                "velocity": {
                    "x": -6.017292499542236,
                    "y": -0.9539986848831177,
                    "z": -0.056543439626693726
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1566081047058105,
                "transform": {
                    "location": {
                        "x": 3530.627197265625,
                        "y": 4222.0888671875,
                        "z": 367.3110046386719
                    },
                    "rotation": {
                        "roll": 1.9430046449997462e-05,
                        "pitch": 0.09536992758512497,
                        "yaw": 99.30863952636719
                    }
                },
                "velocity": {
                    "x": -0.832518994808197,
                    "y": 5.088950157165527,
                    "z": 0.01032768189907074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.720229148864746,
                "transform": {
                    "location": {
                        "x": 3519.3662109375,
                        "y": 4291.36279296875,
                        "z": 367.5390930175781
                    },
                    "rotation": {
                        "roll": 0.0005614827969111502,
                        "pitch": 0.27729201316833496,
                        "yaw": 99.23126220703125
                    }
                },
                "velocity": {
                    "x": -1.719801425933838,
                    "y": 10.58126163482666,
                    "z": 0.04999256134033203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.827274799346924,
                "transform": {
                    "location": {
                        "x": 3506.6494140625,
                        "y": 4235.77294921875,
                        "z": 367.1383972167969
                    },
                    "rotation": {
                        "roll": 0.00011257497681071982,
                        "pitch": 0.45764315128326416,
                        "yaw": 8.986809730529785
                    }
                },
                "velocity": {
                    "x": 2.7924702167510986,
                    "y": 0.4415489435195923,
                    "z": 0.025046728551387787
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.168659687042236,
                "transform": {
                    "location": {
                        "x": 3522.51611328125,
                        "y": 4238.2822265625,
                        "z": 367.3158874511719
                    },
                    "rotation": {
                        "roll": -0.0039062488358467817,
                        "pitch": 0.48749789595603943,
                        "yaw": 8.976901054382324
                    }
                },
                "velocity": {
                    "x": 4.117253303527832,
                    "y": 0.6517072319984436,
                    "z": 0.03503235802054405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.957531929016113,
                "transform": {
                    "location": {
                        "x": 3521.985595703125,
                        "y": 4295.18408203125,
                        "z": 367.5939636230469
                    },
                    "rotation": {
                        "roll": -0.0007019082549959421,
                        "pitch": -0.348148375749588,
                        "yaw": -80.77201843261719
                    }
                },
                "velocity": {
                    "x": 1.117279291152954,
                    "y": -6.867162704467773,
                    "z": -0.031830158084630966
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4003,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3512.365966796875,
                        "y": 4335.06201171875,
                        "z": 367.7472229003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26058536767959595,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.152570724487305,
                "transform": {
                    "location": {
                        "x": 3524.6337890625,
                        "y": 4278.90283203125,
                        "z": 367.4873352050781
                    },
                    "rotation": {
                        "roll": 0.00024733072496019304,
                        "pitch": -0.29052892327308655,
                        "yaw": -80.75984191894531
                    }
                },
                "velocity": {
                    "x": 0.827142059803009,
                    "y": -5.085700035095215,
                    "z": -0.02181842364370823
                },
                "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": 0.23557744920253754,
        "expert_target_speed": 0,
        "target_point": [
            9.817263000756554,
            0.03159876637075354
        ],
        "target_point_next": [
            16.57028914629418,
            6.382530835704488
        ]
    },
    "235": {
        "acceleration": [
            -0.3020477294921875,
            1.7731952667236328,
            -0.0016155466437339783
        ],
        "angular_velocity": [
            0.7640434503555298,
            0.1370597630739212,
            0.4328232407569885
        ],
        "forward_vector": [
            0.19004900753498077,
            -0.9817692637443542,
            -0.003236287971958518
        ],
        "right_vector": [
            0.9817745685577393,
            0.19004881381988525,
            0.00037017749855294824
        ],
        "location": [
            3528.238037109375,
            4254.412109375,
            367.3870544433594
        ],
        "rotation": [
            -0.0212097205221653,
            -0.18542596697807312,
            -79.04429626464844
        ],
        "velocity": [
            0.9745015501976013,
            -4.98482608795166,
            -0.016960201784968376
        ],
        "speed": 5.079187375797528,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.112276077270508,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3550.97607421875,
                4239.64599609375,
                367.5254211425781
            ],
            "velocity": [
                -5.822267532348633,
                -0.9224234819412231,
                -0.05567949265241623
            ],
            "speed_kmh": 21.22253113966777,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3984500765800476,
                "transform": {
                    "location": {
                        "x": 3535.93017578125,
                        "y": 4190.04638671875,
                        "z": 367.2242431640625
                    },
                    "rotation": {
                        "roll": -0.00027465520543046296,
                        "pitch": 0.07356113195419312,
                        "yaw": 99.22926330566406
                    }
                },
                "velocity": {
                    "x": -8.962560241343454e-05,
                    "y": 0.0005151555524207652,
                    "z": -0.39844974875450134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.103875637054443,
                "transform": {
                    "location": {
                        "x": 3573.81982421875,
                        "y": 4243.3271484375,
                        "z": 367.7497253417969
                    },
                    "rotation": {
                        "roll": -0.0078124976716935635,
                        "pitch": -0.3880571722984314,
                        "yaw": -170.56039428710938
                    }
                },
                "velocity": {
                    "x": -6.019504070281982,
                    "y": -1.009592056274414,
                    "z": -0.05994115769863129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.670880317687988,
                "transform": {
                    "location": {
                        "x": 3533.1298828125,
                        "y": 4206.828125,
                        "z": 367.31829833984375
                    },
                    "rotation": {
                        "roll": 0.00019983029051218182,
                        "pitch": 0.1377239227294922,
                        "yaw": 99.58509063720703
                    }
                },
                "velocity": {
                    "x": -0.9411280751228333,
                    "y": 5.592232704162598,
                    "z": 0.009546995162963867
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.731852531433105,
                "transform": {
                    "location": {
                        "x": 3488.58251953125,
                        "y": 4232.91552734375,
                        "z": 366.95562744140625
                    },
                    "rotation": {
                        "roll": 0.0001310720545006916,
                        "pitch": 0.7468265295028687,
                        "yaw": 9.000495910644531
                    }
                },
                "velocity": {
                    "x": 9.611835479736328,
                    "y": 1.5198453664779663,
                    "z": 0.10790790617465973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.895147800445557,
                "transform": {
                    "location": {
                        "x": 3550.97607421875,
                        "y": 4239.64599609375,
                        "z": 367.5254211425781
                    },
                    "rotation": {
                        "roll": 7.708104385528713e-05,
                        "pitch": -0.6281110048294067,
                        "yaw": -170.9953155517578
                    }
                },
                "velocity": {
                    "x": -5.822267532348633,
                    "y": -0.9224234819412231,
                    "z": -0.05567949265241623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.998448848724365,
                "transform": {
                    "location": {
                        "x": 3530.4248046875,
                        "y": 4223.326171875,
                        "z": 367.3134765625
                    },
                    "rotation": {
                        "roll": 0.0015377751551568508,
                        "pitch": 0.09775365889072418,
                        "yaw": 99.2876968383789
                    }
                },
                "velocity": {
                    "x": -0.805243968963623,
                    "y": 4.933141231536865,
                    "z": 0.013847770169377327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.730955123901367,
                "transform": {
                    "location": {
                        "x": 3518.9365234375,
                        "y": 4294.009765625,
                        "z": 367.5516662597656
                    },
                    "rotation": {
                        "roll": 0.00040512034320272505,
                        "pitch": 0.2775925397872925,
                        "yaw": 99.22584533691406
                    }
                },
                "velocity": {
                    "x": -1.7203996181488037,
                    "y": 10.592032432556152,
                    "z": 0.049567755311727524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.110164165496826,
                "transform": {
                    "location": {
                        "x": 3507.349609375,
                        "y": 4235.88330078125,
                        "z": 367.14447021484375
                    },
                    "rotation": {
                        "roll": 0.0008777243783697486,
                        "pitch": 0.5122504830360413,
                        "yaw": 8.986963272094727
                    }
                },
                "velocity": {
                    "x": 3.0718443393707275,
                    "y": 0.4858393371105194,
                    "z": 0.029220743104815483
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.311352729797363,
                "transform": {
                    "location": {
                        "x": 3523.693359375,
                        "y": 4238.46826171875,
                        "z": 367.3253479003906
                    },
                    "rotation": {
                        "roll": -0.007568359375,
                        "pitch": 0.5863648653030396,
                        "yaw": 8.97685718536377
                    }
                },
                "velocity": {
                    "x": 5.246130466461182,
                    "y": 0.828410804271698,
                    "z": 0.048184461891651154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.690767765045166,
                "transform": {
                    "location": {
                        "x": 3522.1904296875,
                        "y": 4293.93408203125,
                        "z": 367.5897521972656
                    },
                    "rotation": {
                        "roll": 0.00046893185935914516,
                        "pitch": -0.5723561644554138,
                        "yaw": -81.01665496826172
                    }
                },
                "velocity": {
                    "x": 0.591563880443573,
                    "y": -3.643010377883911,
                    "z": -0.01715831644833088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.806742191314697,
                "transform": {
                    "location": {
                        "x": 3524.855224609375,
                        "y": 4277.5419921875,
                        "z": 367.48138427734375
                    },
                    "rotation": {
                        "roll": -0.0011902169790118933,
                        "pitch": -0.3022495210170746,
                        "yaw": -80.81285095214844
                    }
                },
                "velocity": {
                    "x": 0.9305734038352966,
                    "y": -5.73163366317749,
                    "z": -0.025742359459400177
                },
                "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": 0.19513000547885895,
        "expert_target_speed": 0,
        "target_point": [
            8.500155925662618,
            0.01295698535448997
        ],
        "target_point_next": [
            15.26463964441168,
            6.351684009796013
        ]
    },
    "240": {
        "acceleration": [
            -0.8944845199584961,
            4.684343338012695,
            0.005901344120502472
        ],
        "angular_velocity": [
            1.0748529434204102,
            0.20909129083156586,
            0.35381531715393066
        ],
        "forward_vector": [
            0.19172723591327667,
            -0.9814209342002869,
            -0.007317238952964544
        ],
        "right_vector": [
            0.9814476370811462,
            0.19172997772693634,
            0.00033022341085597873
        ],
        "location": [
            3528.462158203125,
            4253.27001953125,
            367.3840637207031
        ],
        "rotation": [
            -0.018920915201306343,
            -0.41925063729286194,
            -78.94609832763672
        ],
        "velocity": [
            0.8061935901641846,
            -4.0798234939575195,
            -0.013239793479442596
        ],
        "speed": 4.158714686855731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.223358154296875,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3549.541748046875,
                4239.4189453125,
                367.51202392578125
            ],
            "velocity": [
                -5.646131992340088,
                -0.8943979740142822,
                -0.0529620386660099
            ],
            "speed_kmh": 20.580403472271687,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1271253228187561,
                "transform": {
                    "location": {
                        "x": 3535.93017578125,
                        "y": 4190.04638671875,
                        "z": 367.2410888671875
                    },
                    "rotation": {
                        "roll": -3.051576277357526e-05,
                        "pitch": 0.0734313577413559,
                        "yaw": 99.2291259765625
                    }
                },
                "velocity": {
                    "x": 0.0003531074326019734,
                    "y": 0.0020644378382712603,
                    "z": 0.12710806727409363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.415499210357666,
                "transform": {
                    "location": {
                        "x": 3572.22705078125,
                        "y": 4243.05908203125,
                        "z": 367.7340087890625
                    },
                    "rotation": {
                        "roll": -0.00949096865952015,
                        "pitch": -0.32965222001075745,
                        "yaw": -170.4467010498047
                    }
                },
                "velocity": {
                    "x": -7.312108039855957,
                    "y": -1.2318590879440308,
                    "z": -0.07232839614152908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.056459903717041,
                "transform": {
                    "location": {
                        "x": 3532.882080078125,
                        "y": 4208.3154296875,
                        "z": 367.3200988769531
                    },
                    "rotation": {
                        "roll": 0.004209528677165508,
                        "pitch": 0.2202530950307846,
                        "yaw": 99.49937438964844
                    }
                },
                "velocity": {
                    "x": -1.1517705917358398,
                    "y": 6.961820125579834,
                    "z": 0.010756483301520348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.957822799682617,
                "transform": {
                    "location": {
                        "x": 3490.9208984375,
                        "y": 4233.28466796875,
                        "z": 366.9815673828125
                    },
                    "rotation": {
                        "roll": -0.000732429965864867,
                        "pitch": 0.5654030442237854,
                        "yaw": 8.972631454467773
                    }
                },
                "velocity": {
                    "x": 8.847311019897461,
                    "y": 1.3992820978164673,
                    "z": 0.0984024778008461
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.716778755187988,
                "transform": {
                    "location": {
                        "x": 3549.541748046875,
                        "y": 4239.4189453125,
                        "z": 367.51202392578125
                    },
                    "rotation": {
                        "roll": 0.0001717218547128141,
                        "pitch": -0.6177359223365784,
                        "yaw": -170.99832153320312
                    }
                },
                "velocity": {
                    "x": -5.646131992340088,
                    "y": -0.8943979740142822,
                    "z": -0.0529620386660099
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8009064197540283,
                "transform": {
                    "location": {
                        "x": 3530.243408203125,
                        "y": 4224.4384765625,
                        "z": 367.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0013147139688953757,
                        "pitch": -0.026303056627511978,
                        "yaw": 99.27741241455078
                    }
                },
                "velocity": {
                    "x": -0.6127561926841736,
                    "y": 3.7511777877807617,
                    "z": 0.00923084281384945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.720251083374023,
                "transform": {
                    "location": {
                        "x": 3518.5068359375,
                        "y": 4296.65625,
                        "z": 367.564208984375
                    },
                    "rotation": {
                        "roll": -0.0004577480140142143,
                        "pitch": 0.2758849859237671,
                        "yaw": 99.22789764404297
                    }
                },
                "velocity": {
                    "x": -1.7202932834625244,
                    "y": 10.581205368041992,
                    "z": 0.04972720891237259
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7999212741851807,
                "transform": {
                    "location": {
                        "x": 3508.204345703125,
                        "y": 4236.0185546875,
                        "z": 367.1521911621094
                    },
                    "rotation": {
                        "roll": 0.00137138064019382,
                        "pitch": 0.5367981791496277,
                        "yaw": 8.990127563476562
                    }
                },
                "velocity": {
                    "x": 3.753075361251831,
                    "y": 0.5939144492149353,
                    "z": 0.03306341916322708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.644702911376953,
                "transform": {
                    "location": {
                        "x": 3525.013671875,
                        "y": 4238.67626953125,
                        "z": 367.33697509765625
                    },
                    "rotation": {
                        "roll": -0.005645751487463713,
                        "pitch": 0.5392570495605469,
                        "yaw": 9.10550594329834
                    }
                },
                "velocity": {
                    "x": 5.57496976852417,
                    "y": 0.8833335041999817,
                    "z": 0.04591084271669388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.578408241271973,
                "transform": {
                    "location": {
                        "x": 3522.352783203125,
                        "y": 4292.9296875,
                        "z": 367.58251953125
                    },
                    "rotation": {
                        "roll": 0.00025310699129477143,
                        "pitch": -0.284641295671463,
                        "yaw": -80.91637420654297
                    }
                },
                "velocity": {
                    "x": 0.7340695858001709,
                    "y": -4.519128799438477,
                    "z": -0.02091982774436474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.301782131195068,
                "transform": {
                    "location": {
                        "x": 3525.079345703125,
                        "y": 4276.15966796875,
                        "z": 367.4748229980469
                    },
                    "rotation": {
                        "roll": 0.0008419935475103557,
                        "pitch": -0.21646234393119812,
                        "yaw": -80.80266571044922
                    }
                },
                "velocity": {
                    "x": 0.8477876782417297,
                    "y": -5.233518123626709,
                    "z": -0.02101311646401882
                },
                "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": 0.151830792427063,
        "expert_target_speed": 0,
        "target_point": [
            14.1116312750299,
            6.324524741385272
        ],
        "target_point_next": [
            15.949957564473216,
            57.29141213560569
        ]
    },
    "245": {
        "acceleration": [
            -0.8386337757110596,
            4.295907020568848,
            -0.00038452446460723877
        ],
        "angular_velocity": [
            0.32775089144706726,
            0.07078292965888977,
            -0.4819701313972473
        ],
        "forward_vector": [
            0.1929607391357422,
            -0.9811499118804932,
            -0.01053730957210064
        ],
        "right_vector": [
            0.9812048077583313,
            0.19296889007091522,
            0.00024606240913271904
        ],
        "location": [
            3528.63330078125,
            4252.40478515625,
            367.3822326660156
        ],
        "rotation": [
            -0.014099120162427425,
            -0.6037545204162598,
            -78.8737564086914
        ],
        "velocity": [
            0.5847626328468323,
            -2.9362690448760986,
            -0.009450874291360378
        ],
        "speed": 2.9939310681229045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.57386016845703,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3548.161865234375,
                4239.20068359375,
                367.4993591308594
            ],
            "velocity": [
                -5.413023948669434,
                -0.8558914065361023,
                -0.050860222429037094
            ],
            "speed_kmh": 19.72982787801663,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8028870820999146,
                "transform": {
                    "location": {
                        "x": 3535.88330078125,
                        "y": 4190.31591796875,
                        "z": 367.2584533691406
                    },
                    "rotation": {
                        "roll": -0.009643548168241978,
                        "pitch": 0.33148956298828125,
                        "yaw": 99.37581634521484
                    }
                },
                "velocity": {
                    "x": -0.308257520198822,
                    "y": 1.77608060836792,
                    "z": 0.030282650142908096
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.339333534240723,
                "transform": {
                    "location": {
                        "x": 3570.235595703125,
                        "y": 4242.72998046875,
                        "z": 367.71429443359375
                    },
                    "rotation": {
                        "roll": 0.004467819817364216,
                        "pitch": -0.38796839118003845,
                        "yaw": -170.6260986328125
                    }
                },
                "velocity": {
                    "x": -8.22854995727539,
                    "y": -1.3523703813552856,
                    "z": -0.0808665081858635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.4729180335998535,
                "transform": {
                    "location": {
                        "x": 3532.5712890625,
                        "y": 4210.19384765625,
                        "z": 367.3235778808594
                    },
                    "rotation": {
                        "roll": 0.002053254283964634,
                        "pitch": 0.16617849469184875,
                        "yaw": 99.4088363647461
                    }
                },
                "velocity": {
                    "x": -1.2172516584396362,
                    "y": 7.373101711273193,
                    "z": 0.013126306235790253
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.498464107513428,
                "transform": {
                    "location": {
                        "x": 3492.943603515625,
                        "y": 4233.60498046875,
                        "z": 367.0035705566406
                    },
                    "rotation": {
                        "roll": -6.103317718952894e-05,
                        "pitch": 0.4290246367454529,
                        "yaw": 9.00678539276123
                    }
                },
                "velocity": {
                    "x": 7.406063556671143,
                    "y": 1.1708393096923828,
                    "z": 0.07949519902467728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.480507850646973,
                "transform": {
                    "location": {
                        "x": 3548.161865234375,
                        "y": 4239.20068359375,
                        "z": 367.4993591308594
                    },
                    "rotation": {
                        "roll": 0.0015525930793955922,
                        "pitch": -0.6251808404922485,
                        "yaw": -171.00564575195312
                    }
                },
                "velocity": {
                    "x": -5.413023948669434,
                    "y": -0.8558914065361023,
                    "z": -0.050860222429037094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3679380416870117,
                "transform": {
                    "location": {
                        "x": 3530.12158203125,
                        "y": 4225.18359375,
                        "z": 367.3171081542969
                    },
                    "rotation": {
                        "roll": 0.00018728348368313164,
                        "pitch": -0.09216656535863876,
                        "yaw": 99.27720642089844
                    }
                },
                "velocity": {
                    "x": -0.381646066904068,
                    "y": 2.3369743824005127,
                    "z": 0.005254735704511404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.73092269897461,
                "transform": {
                    "location": {
                        "x": 3518.076416015625,
                        "y": 4299.302734375,
                        "z": 367.57672119140625
                    },
                    "rotation": {
                        "roll": -0.0005798389902338386,
                        "pitch": 0.27494925260543823,
                        "yaw": 99.23040008544922
                    }
                },
                "velocity": {
                    "x": -1.7212148904800415,
                    "y": 10.591870307922363,
                    "z": 0.04903765395283699
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.524320125579834,
                "transform": {
                    "location": {
                        "x": 3509.2353515625,
                        "y": 4236.181640625,
                        "z": 367.16156005859375
                    },
                    "rotation": {
                        "roll": 0.000914927339181304,
                        "pitch": 0.5277003645896912,
                        "yaw": 8.993019104003906
                    }
                },
                "velocity": {
                    "x": 4.4685163497924805,
                    "y": 0.7073315978050232,
                    "z": 0.0389261431992054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.203911781311035,
                "transform": {
                    "location": {
                        "x": 3526.502197265625,
                        "y": 4238.91259765625,
                        "z": 367.3485412597656
                    },
                    "rotation": {
                        "roll": -0.001708984375,
                        "pitch": 0.6296750903129578,
                        "yaw": 9.098742485046387
                    }
                },
                "velocity": {
                    "x": 7.114924907684326,
                    "y": 1.1273666620254517,
                    "z": 0.05687444657087326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.180381774902344,
                "transform": {
                    "location": {
                        "x": 3522.5498046875,
                        "y": 4291.7119140625,
                        "z": 367.5768127441406
                    },
                    "rotation": {
                        "roll": 0.0003987969539593905,
                        "pitch": -0.2759464681148529,
                        "yaw": -80.84196472167969
                    }
                },
                "velocity": {
                    "x": 0.6703282594680786,
                    "y": -4.12622594833374,
                    "z": -0.022654980421066284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.808252811431885,
                "transform": {
                    "location": {
                        "x": 3525.281494140625,
                        "y": 4274.912109375,
                        "z": 367.46917724609375
                    },
                    "rotation": {
                        "roll": 0.0009042375604622066,
                        "pitch": -0.18395747244358063,
                        "yaw": -80.79228973388672
                    }
                },
                "velocity": {
                    "x": 0.7690702080726624,
                    "y": -4.746302604675293,
                    "z": -0.020998777821660042
                },
                "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": 0.1311500519514084,
        "expert_target_speed": 0,
        "target_point": [
            13.237606892201123,
            6.305744144678041
        ],
        "target_point_next": [
            15.140273642631666,
            57.27027017444123
        ]
    },
    "250": {
        "acceleration": [
            -0.5153411626815796,
            2.5908279418945312,
            0.01790313981473446
        ],
        "angular_velocity": [
            -0.39032498002052307,
            -0.036279015243053436,
            1.2413103580474854
        ],
        "forward_vector": [
            0.1940498948097229,
            -0.9809362888336182,
            -0.010422993451356888
        ],
        "right_vector": [
            0.980989933013916,
            0.1940586268901825,
            0.0001768241636455059
        ],
        "location": [
            3528.755126953125,
            4251.7939453125,
            367.38031005859375
        ],
        "rotation": [
            -0.010131828486919403,
            -0.5972043871879578,
            -78.8101577758789
        ],
        "velocity": [
            0.41489967703819275,
            -2.0729422569274902,
            -0.005829439032822847
        ],
        "speed": 2.114055662124825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.14900016784668,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3546.827392578125,
                4238.9892578125,
                367.4870300292969
            ],
            "velocity": [
                -5.2693772315979,
                -0.8333761692047119,
                -0.04848211258649826
            ],
            "speed_kmh": 19.206329889264087,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3185505867004395,
                "transform": {
                    "location": {
                        "x": 3535.772705078125,
                        "y": 4190.9501953125,
                        "z": 367.2624206542969
                    },
                    "rotation": {
                        "roll": -0.009338376112282276,
                        "pitch": 0.37585845589637756,
                        "yaw": 99.58550262451172
                    }
                },
                "velocity": {
                    "x": -0.571453332901001,
                    "y": 3.268965005874634,
                    "z": 0.009245157241821289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.963618278503418,
                "transform": {
                    "location": {
                        "x": 3568.22314453125,
                        "y": 4242.400390625,
                        "z": 367.69427490234375
                    },
                    "rotation": {
                        "roll": 0.002275803592056036,
                        "pitch": -0.563750147819519,
                        "yaw": -170.71307373046875
                    }
                },
                "velocity": {
                    "x": -7.858963489532471,
                    "y": -1.284479022026062,
                    "z": -0.07761216163635254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.306284427642822,
                "transform": {
                    "location": {
                        "x": 3532.296875,
                        "y": 4211.85302734375,
                        "z": 367.32818603515625
                    },
                    "rotation": {
                        "roll": 0.0013317972188815475,
                        "pitch": -0.04470358416438103,
                        "yaw": 99.38076782226562
                    }
                },
                "velocity": {
                    "x": -0.8640329837799072,
                    "y": 5.235457420349121,
                    "z": 0.009230040945112705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.893376350402832,
                "transform": {
                    "location": {
                        "x": 3494.537353515625,
                        "y": 4233.85595703125,
                        "z": 367.0205383300781
                    },
                    "rotation": {
                        "roll": -0.0016174331540241838,
                        "pitch": 0.22446732223033905,
                        "yaw": 8.747483253479004
                    }
                },
                "velocity": {
                    "x": 4.834688186645508,
                    "y": 0.753799557685852,
                    "z": 0.05202610790729523
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.335091590881348,
                "transform": {
                    "location": {
                        "x": 3546.827392578125,
                        "y": 4238.9892578125,
                        "z": 367.4870300292969
                    },
                    "rotation": {
                        "roll": 0.00029137355159036815,
                        "pitch": -0.6127567291259766,
                        "yaw": -171.01136779785156
                    }
                },
                "velocity": {
                    "x": -5.2693772315979,
                    "y": -0.8333761692047119,
                    "z": -0.04848211258649826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0036225169897079468,
                "transform": {
                    "location": {
                        "x": 3530.093994140625,
                        "y": 4225.35205078125,
                        "z": 367.3172912597656
                    },
                    "rotation": {
                        "roll": 0.0016839457675814629,
                        "pitch": -0.20459146797657013,
                        "yaw": 99.2056884765625
                    }
                },
                "velocity": {
                    "x": 0.00045439068344421685,
                    "y": -0.0032085636630654335,
                    "z": 0.0016190361930057406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.713574409484863,
                "transform": {
                    "location": {
                        "x": 3517.646484375,
                        "y": 4301.94873046875,
                        "z": 367.5891418457031
                    },
                    "rotation": {
                        "roll": 6.0431852034525946e-05,
                        "pitch": 0.2740339934825897,
                        "yaw": 99.23054504394531
                    }
                },
                "velocity": {
                    "x": -1.7185450792312622,
                    "y": 10.574728965759277,
                    "z": 0.0488043874502182
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.186786651611328,
                "transform": {
                    "location": {
                        "x": 3510.449951171875,
                        "y": 4236.3740234375,
                        "z": 367.1727600097656
                    },
                    "rotation": {
                        "roll": 6.162426143418998e-05,
                        "pitch": 0.5152353048324585,
                        "yaw": 8.997593879699707
                    }
                },
                "velocity": {
                    "x": 5.12285041809082,
                    "y": 0.8104872703552246,
                    "z": 0.04766055941581726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.928081512451172,
                "transform": {
                    "location": {
                        "x": 3528.53125,
                        "y": 4239.23486328125,
                        "z": 367.3648986816406
                    },
                    "rotation": {
                        "roll": 0.03011459670960903,
                        "pitch": 0.6457465291023254,
                        "yaw": 9.031709671020508
                    }
                },
                "velocity": {
                    "x": 8.817785263061523,
                    "y": 1.3972718715667725,
                    "z": 0.07021217048168182
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.293298721313477,
                "transform": {
                    "location": {
                        "x": 3522.7021484375,
                        "y": 4290.7744140625,
                        "z": 367.57220458984375
                    },
                    "rotation": {
                        "roll": -0.0005493030766956508,
                        "pitch": -0.2793342173099518,
                        "yaw": -80.8089370727539
                    }
                },
                "velocity": {
                    "x": 0.6892654299736023,
                    "y": -4.237565040588379,
                    "z": -0.01922650821506977
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.264941215515137,
                "transform": {
                    "location": {
                        "x": 3525.466064453125,
                        "y": 4273.7744140625,
                        "z": 367.4644470214844
                    },
                    "rotation": {
                        "roll": 0.0012183744693174958,
                        "pitch": -0.18121173977851868,
                        "yaw": -80.78813171386719
                    }
                },
                "velocity": {
                    "x": 0.6827136278152466,
                    "y": -4.209906101226807,
                    "z": -0.017801159992814064
                },
                "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": 0.09582860767841339,
        "expert_target_speed": 10.0,
        "target_point": [
            12.621727374749181,
            6.290079099662698
        ],
        "target_point_next": [
            14.580950777773456,
            57.252462264685946
        ]
    },
    "255": {
        "acceleration": [
            -0.12825369834899902,
            0.6720519065856934,
            -0.020845606923103333
        ],
        "angular_velocity": [
            -0.7062012553215027,
            -0.17962105572223663,
            -0.9203850030899048
        ],
        "forward_vector": [
            0.19460605084896088,
            -0.9808508157730103,
            -0.007756631821393967
        ],
        "right_vector": [
            0.9808805584907532,
            0.19461078941822052,
            0.00014700180327054113
        ],
        "location": [
            3528.84814453125,
            4251.330078125,
            367.3783874511719
        ],
        "rotation": [
            -0.008422836661338806,
            -0.4444267153739929,
            -78.77794647216797
        ],
        "velocity": [
            0.34642642736434937,
            -1.7234264612197876,
            -0.006327152252197266
        ],
        "speed": 1.7578993249924715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.878459930419922,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3545.536865234375,
                4238.78466796875,
                367.4752197265625
            ],
            "velocity": [
                -5.059437274932861,
                -0.8002431988716125,
                -0.04716378077864647
            ],
            "speed_kmh": 18.441180223495678,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.802371978759766,
                "transform": {
                    "location": {
                        "x": 3535.594970703125,
                        "y": 4191.9619140625,
                        "z": 367.26422119140625
                    },
                    "rotation": {
                        "roll": -0.009307876229286194,
                        "pitch": 0.3849835991859436,
                        "yaw": 99.79092407226562
                    }
                },
                "velocity": {
                    "x": -0.8331778645515442,
                    "y": 4.72953987121582,
                    "z": 0.006699695251882076
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02404499053955,
                "transform": {
                    "location": {
                        "x": 3566.263671875,
                        "y": 4242.08251953125,
                        "z": 367.6750183105469
                    },
                    "rotation": {
                        "roll": 0.004741951357573271,
                        "pitch": -0.5514830946922302,
                        "yaw": -170.7922821044922
                    }
                },
                "velocity": {
                    "x": -7.92110013961792,
                    "y": -1.2788078784942627,
                    "z": -0.07820013165473938
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0019922826904803514,
                "transform": {
                    "location": {
                        "x": 3532.213623046875,
                        "y": 4212.35693359375,
                        "z": 367.3318176269531
                    },
                    "rotation": {
                        "roll": 0.0016403658082708716,
                        "pitch": -0.3997504711151123,
                        "yaw": 99.36504364013672
                    }
                },
                "velocity": {
                    "x": 0.00035531012690626085,
                    "y": -0.0012121888576075435,
                    "z": 0.0015406307065859437
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.948876857757568,
                "transform": {
                    "location": {
                        "x": 3495.670654296875,
                        "y": 4234.033203125,
                        "z": 367.0326232910156
                    },
                    "rotation": {
                        "roll": -0.0037231456954032183,
                        "pitch": 0.4952843189239502,
                        "yaw": 8.760499954223633
                    }
                },
                "velocity": {
                    "x": 4.888969421386719,
                    "y": 0.7659493088722229,
                    "z": 0.051817186176776886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.122550010681152,
                "transform": {
                    "location": {
                        "x": 3545.536865234375,
                        "y": 4238.78466796875,
                        "z": 367.4752197265625
                    },
                    "rotation": {
                        "roll": -0.0003356922825332731,
                        "pitch": -0.612613320350647,
                        "yaw": -171.01197814941406
                    }
                },
                "velocity": {
                    "x": -5.059437274932861,
                    "y": -0.8002431988716125,
                    "z": -0.04716378077864647
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017707828665152192,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.35400390625,
                        "z": 367.3175964355469
                    },
                    "rotation": {
                        "roll": 0.0007302634767256677,
                        "pitch": 0.042736493051052094,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -0.00011964468285441399,
                    "y": -0.0010355653939768672,
                    "z": 0.0014314193977043033
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.409153938293457,
                "transform": {
                    "location": {
                        "x": 3517.2216796875,
                        "y": 4304.5625,
                        "z": 367.6016845703125
                    },
                    "rotation": {
                        "roll": 5.602922465186566e-05,
                        "pitch": 0.1976041942834854,
                        "yaw": 99.22589111328125
                    }
                },
                "velocity": {
                    "x": -1.6689656972885132,
                    "y": 10.274370193481445,
                    "z": 0.04854649305343628
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.901602745056152,
                "transform": {
                    "location": {
                        "x": 3511.802734375,
                        "y": 4236.587890625,
                        "z": 367.1847229003906
                    },
                    "rotation": {
                        "roll": 1.8300170268048532e-05,
                        "pitch": 0.513630211353302,
                        "yaw": 8.992079734802246
                    }
                },
                "velocity": {
                    "x": 5.828836441040039,
                    "y": 0.9225054979324341,
                    "z": 0.05063328519463539
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.912473678588867,
                "transform": {
                    "location": {
                        "x": 3530.8935546875,
                        "y": 4239.60888671875,
                        "z": 367.3847961425781
                    },
                    "rotation": {
                        "roll": -0.003082275390625,
                        "pitch": 0.612531304359436,
                        "yaw": 8.990520477294922
                    }
                },
                "velocity": {
                    "x": 9.790400505065918,
                    "y": 1.5487130880355835,
                    "z": 0.08171319961547852
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.206615924835205,
                "transform": {
                    "location": {
                        "x": 3522.87841796875,
                        "y": 4289.6884765625,
                        "z": 367.567138671875
                    },
                    "rotation": {
                        "roll": 0.0007366281934082508,
                        "pitch": -0.2730094790458679,
                        "yaw": -80.78898620605469
                    }
                },
                "velocity": {
                    "x": 0.6751750111579895,
                    "y": -4.15202522277832,
                    "z": -0.021000804379582405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8904223442077637,
                "transform": {
                    "location": {
                        "x": 3525.622802734375,
                        "y": 4272.80859375,
                        "z": 367.4605712890625
                    },
                    "rotation": {
                        "roll": 0.00013545056572183967,
                        "pitch": -0.18698324263095856,
                        "yaw": -80.78878021240234
                    }
                },
                "velocity": {
                    "x": 0.6229077577590942,
                    "y": -3.840195894241333,
                    "z": -0.016343574970960617
                },
                "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": 0.08733806759119034,
        "expert_target_speed": 10.0,
        "target_point": [
            12.152163047867383,
            6.28201315621075
        ],
        "target_point_next": [
            14.140052680431914,
            57.24328618789968
        ]
    },
    "260": {
        "acceleration": [
            0.7251965999603271,
            -3.5786867141723633,
            0.006913375109434128
        ],
        "angular_velocity": [
            -1.4652342796325684,
            -0.30873218178749084,
            0.9866486191749573
        ],
        "forward_vector": [
            0.19549031555652618,
            -0.9807007908821106,
            -0.0030876346863806248
        ],
        "right_vector": [
            0.9807055592536926,
            0.1954907476902008,
            0.00016618077643215656
        ],
        "location": [
            3528.94091796875,
            4250.8681640625,
            367.3760070800781
        ],
        "rotation": [
            -0.009521502070128918,
            -0.1769087165594101,
            -78.72657775878906
        ],
        "velocity": [
            0.4331448972225189,
            -2.1478168964385986,
            -0.0059478092007339
        ],
        "speed": 2.1910572613733854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.654983520507812,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3544.287109375,
                4238.587890625,
                367.4636535644531
            ],
            "velocity": [
                -4.748570442199707,
                -0.7508994340896606,
                -0.042221397161483765
            ],
            "speed_kmh": 17.30793511396758,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.391053199768066,
                "transform": {
                    "location": {
                        "x": 3535.372802734375,
                        "y": 4193.259765625,
                        "z": 367.2662048339844
                    },
                    "rotation": {
                        "roll": 0.009004585444927216,
                        "pitch": 0.2352931797504425,
                        "yaw": 99.68871307373047
                    }
                },
                "velocity": {
                    "x": -0.9065911769866943,
                    "y": 5.314274787902832,
                    "z": 0.005768299102783203
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.934085845947266,
                "transform": {
                    "location": {
                        "x": 3564.27685546875,
                        "y": 4241.76220703125,
                        "z": 367.6555480957031
                    },
                    "rotation": {
                        "roll": 0.0024558354634791613,
                        "pitch": -0.5642077326774597,
                        "yaw": -170.86854553222656
                    }
                },
                "velocity": {
                    "x": -7.833385944366455,
                    "y": -1.2577531337738037,
                    "z": -0.07639805972576141
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4113904237747192,
                "transform": {
                    "location": {
                        "x": 3532.178955078125,
                        "y": 4212.56884765625,
                        "z": 367.3283996582031
                    },
                    "rotation": {
                        "roll": 0.0005268386448733509,
                        "pitch": 0.06119849160313606,
                        "yaw": 99.3512191772461
                    }
                },
                "velocity": {
                    "x": -0.22863233089447021,
                    "y": 1.392747163772583,
                    "z": 0.0023196982219815254
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.411793231964111,
                "transform": {
                    "location": {
                        "x": 3496.974609375,
                        "y": 4234.23876953125,
                        "z": 367.046875
                    },
                    "rotation": {
                        "roll": -0.003082276787608862,
                        "pitch": 0.6318197846412659,
                        "yaw": 8.925095558166504
                    }
                },
                "velocity": {
                    "x": 5.345293998718262,
                    "y": 0.8438663482666016,
                    "z": 0.05678660422563553
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.807759761810303,
                "transform": {
                    "location": {
                        "x": 3544.287109375,
                        "y": 4238.587890625,
                        "z": 367.4636535644531
                    },
                    "rotation": {
                        "roll": 0.001470218994654715,
                        "pitch": -0.588618814945221,
                        "yaw": -171.01292419433594
                    }
                },
                "velocity": {
                    "x": -4.748570442199707,
                    "y": -0.7508994340896606,
                    "z": -0.042221397161483765
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016044313088059425,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177185058594
                    },
                    "rotation": {
                        "roll": -9.154733561445028e-05,
                        "pitch": 0.09782196581363678,
                        "yaw": 99.20563507080078
                    }
                },
                "velocity": {
                    "x": 0.0001003996076178737,
                    "y": -0.00023005616094451398,
                    "z": 0.001584674697369337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.286553382873535,
                "transform": {
                    "location": {
                        "x": 3516.820556640625,
                        "y": 4307.03369140625,
                        "z": 367.6142578125
                    },
                    "rotation": {
                        "roll": -0.0008239719900302589,
                        "pitch": -0.05846641585230827,
                        "yaw": 99.22472381591797
                    }
                },
                "velocity": {
                    "x": -1.4887391328811646,
                    "y": 9.166342735290527,
                    "z": 0.04360057786107063
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.013740062713623,
                "transform": {
                    "location": {
                        "x": 3513.32080078125,
                        "y": 4236.828125,
                        "z": 367.1979675292969
                    },
                    "rotation": {
                        "roll": 0.0004892544820904732,
                        "pitch": 0.5028862953186035,
                        "yaw": 9.009270668029785
                    }
                },
                "velocity": {
                    "x": 5.939547061920166,
                    "y": 0.9403151273727417,
                    "z": 0.051521968096494675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.353142738342285,
                "transform": {
                    "location": {
                        "x": 3533.502685546875,
                        "y": 4240.021484375,
                        "z": 367.4063720703125
                    },
                    "rotation": {
                        "roll": -0.0157470740377903,
                        "pitch": 0.6238694190979004,
                        "yaw": 8.991189956665039
                    }
                },
                "velocity": {
                    "x": 11.213367462158203,
                    "y": 1.7725696563720703,
                    "z": 0.11059632897377014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.984737873077393,
                "transform": {
                    "location": {
                        "x": 3523.05908203125,
                        "y": 4288.576171875,
                        "z": 367.5611877441406
                    },
                    "rotation": {
                        "roll": 0.0016225413419306278,
                        "pitch": -0.21390102803707123,
                        "yaw": -80.78035736083984
                    }
                },
                "velocity": {
                    "x": 0.7985077500343323,
                    "y": -4.920314311981201,
                    "z": -0.022438621148467064
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.514094114303589,
                "transform": {
                    "location": {
                        "x": 3525.77783203125,
                        "y": 4271.853515625,
                        "z": 367.4567565917969
                    },
                    "rotation": {
                        "roll": 0.0007128249853849411,
                        "pitch": -0.1940934807062149,
                        "yaw": -80.78258514404297
                    }
                },
                "velocity": {
                    "x": 0.5626317262649536,
                    "y": -3.468735933303833,
                    "z": -0.013192281126976013
                },
                "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": 0.06154976040124893,
        "expert_target_speed": 3.0281233606911444,
        "target_point": [
            11.686654470713583,
            6.2704281034053455
        ],
        "target_point_next": [
            13.720250508842593,
            57.22989769793026
        ]
    },
    "265": {
        "acceleration": [
            1.3565409183502197,
            -6.176557540893555,
            -0.027443505823612213
        ],
        "angular_velocity": [
            -1.3505452871322632,
            -0.3510277569293976,
            0.3893454670906067
        ],
        "forward_vector": [
            0.19661268591880798,
            -0.9804754853248596,
            0.0033570462837815285
        ],
        "right_vector": [
            0.9804807901382446,
            0.19661472737789154,
            0.00028335870592854917
        ],
        "location": [
            3529.08154296875,
            4250.1728515625,
            367.3726806640625
        ],
        "rotation": [
            -0.01623534969985485,
            0.19234494864940643,
            -78.6609878540039
        ],
        "velocity": [
            0.7017033696174622,
            -3.436406135559082,
            -0.009744348004460335
        ],
        "speed": 3.507317314906167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.706716537475586,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.694580078125,
                4238.494140625,
                367.4625549316406
            ],
            "velocity": [
                -0.019439009949564934,
                -0.00309737678617239,
                -0.00017285301873926073
            ],
            "speed_kmh": 0.07086595464024988,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.436605930328369,
                "transform": {
                    "location": {
                        "x": 3535.135498046875,
                        "y": 4194.64892578125,
                        "z": 367.2679138183594
                    },
                    "rotation": {
                        "roll": 0.0010463505750522017,
                        "pitch": 0.26320815086364746,
                        "yaw": 99.74602508544922
                    }
                },
                "velocity": {
                    "x": -1.0833938121795654,
                    "y": 6.3447699546813965,
                    "z": 0.00717272749170661
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.449221611022949,
                "transform": {
                    "location": {
                        "x": 3562.385498046875,
                        "y": 4241.45947265625,
                        "z": 367.63714599609375
                    },
                    "rotation": {
                        "roll": 0.001160117913968861,
                        "pitch": -0.61281818151474,
                        "yaw": -170.8909912109375
                    }
                },
                "velocity": {
                    "x": -7.354909896850586,
                    "y": -1.179405927658081,
                    "z": -0.07217030227184296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2367963790893555,
                "transform": {
                    "location": {
                        "x": 3532.10498046875,
                        "y": 4213.02001953125,
                        "z": 367.32830810546875
                    },
                    "rotation": {
                        "roll": -6.103841587901115e-05,
                        "pitch": 0.17123283445835114,
                        "yaw": 99.32378387451172
                    }
                },
                "velocity": {
                    "x": -0.3611140847206116,
                    "y": 2.2074527740478516,
                    "z": 0.002655887510627508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9211344718933105,
                "transform": {
                    "location": {
                        "x": 3498.423095703125,
                        "y": 4234.4677734375,
                        "z": 367.0619812011719
                    },
                    "rotation": {
                        "roll": -0.0014648431679233909,
                        "pitch": 0.7956350445747375,
                        "yaw": 8.98741340637207
                    }
                },
                "velocity": {
                    "x": 6.835612773895264,
                    "y": 1.0824673175811768,
                    "z": 0.0690273866057396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.019684987142682076,
                "transform": {
                    "location": {
                        "x": 3543.694580078125,
                        "y": 4238.494140625,
                        "z": 367.4625549316406
                    },
                    "rotation": {
                        "roll": 0.0007187408627942204,
                        "pitch": -1.80612051486969,
                        "yaw": -171.01463317871094
                    }
                },
                "velocity": {
                    "x": -0.019439009949564934,
                    "y": -0.00309737678617239,
                    "z": -0.00017285301873926073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009636704926379025,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -0.00042724786908365786,
                        "pitch": 0.11635909974575043,
                        "yaw": 99.20563507080078
                    }
                },
                "velocity": {
                    "x": 2.4899634809116833e-05,
                    "y": -4.5203247282188386e-05,
                    "z": 0.0009622875950299203
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.168436050415039,
                "transform": {
                    "location": {
                        "x": 3516.456787109375,
                        "y": 4309.2734375,
                        "z": 367.6244201660156
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": 0.042750149965286255,
                        "yaw": 99.2242431640625
                    }
                },
                "velocity": {
                    "x": -1.469653844833374,
                    "y": 9.049784660339355,
                    "z": 0.041651658713817596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.396419048309326,
                "transform": {
                    "location": {
                        "x": 3514.720947265625,
                        "y": 4237.0498046875,
                        "z": 367.21026611328125
                    },
                    "rotation": {
                        "roll": 0.0003505561326164752,
                        "pitch": 0.4746093153953552,
                        "yaw": 9.004985809326172
                    }
                },
                "velocity": {
                    "x": 5.32986307144165,
                    "y": 0.8436699509620667,
                    "z": 0.04601489007472992
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.45882511138916,
                "transform": {
                    "location": {
                        "x": 3536.454833984375,
                        "y": 4240.48779296875,
                        "z": 367.4335021972656
                    },
                    "rotation": {
                        "roll": -0.0018310515442863107,
                        "pitch": 0.6931412220001221,
                        "yaw": 8.984342575073242
                    }
                },
                "velocity": {
                    "x": 12.305307388305664,
                    "y": 1.9460879564285278,
                    "z": 0.12028589099645615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.399709701538086,
                "transform": {
                    "location": {
                        "x": 3523.26953125,
                        "y": 4287.27685546875,
                        "z": 367.5555114746094
                    },
                    "rotation": {
                        "roll": -0.0008239778107963502,
                        "pitch": -0.22268465161323547,
                        "yaw": -80.6822280883789
                    }
                },
                "velocity": {
                    "x": 0.8677903413772583,
                    "y": -5.329462051391602,
                    "z": -0.0252640713006258
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.338257312774658,
                "transform": {
                    "location": {
                        "x": 3525.91015625,
                        "y": 4271.0390625,
                        "z": 367.4535827636719
                    },
                    "rotation": {
                        "roll": 0.00022943300427868962,
                        "pitch": -0.1966547966003418,
                        "yaw": -80.78656768798828
                    }
                },
                "velocity": {
                    "x": 0.5346794128417969,
                    "y": -3.2951316833496094,
                    "z": -0.013674173504114151
                },
                "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": 0.0288638174533844,
        "expert_target_speed": 4.364471491531173,
        "target_point": [
            10.984434724840481,
            6.255874728519952
        ],
        "target_point_next": [
            13.076360052485116,
            57.21298318872561
        ]
    },
    "270": {
        "acceleration": [
            1.6809391975402832,
            -4.958295822143555,
            0.005946345627307892
        ],
        "angular_velocity": [
            -0.1842353492975235,
            -0.47767406702041626,
            3.9341933727264404
        ],
        "forward_vector": [
            0.20627756416797638,
            -0.9784707427024841,
            0.006681511178612709
        ],
        "right_vector": [
            0.9784878492355347,
            0.20629486441612244,
            0.002005313988775015
        ],
        "location": [
            3529.30615234375,
            4249.134765625,
            367.368896484375
        ],
        "rotation": [
            -0.1148986667394638,
            0.38282525539398193,
            -78.0954360961914
        ],
        "velocity": [
            1.0965862274169922,
            -4.7549591064453125,
            -0.013387165032327175
        ],
        "speed": 4.879768176678871,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.893590927124023,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.691162109375,
                4238.4931640625,
                367.4606018066406
            ],
            "velocity": [
                0.009110445156693459,
                0.0013225317234173417,
                0.0019777321722358465
            ],
            "speed_kmh": 0.0338975368503862,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 3577.5498046875,
                        "y": 4243.95068359375,
                        "z": 367.8689880371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5571863055229187,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 1.693533846491846e-08,
                    "y": 2.678775423703428e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.372270584106445,
                "transform": {
                    "location": {
                        "x": 3534.814697265625,
                        "y": 4196.53076171875,
                        "z": 367.2704162597656
                    },
                    "rotation": {
                        "roll": 0.0034681176766753197,
                        "pitch": 0.4407520890235901,
                        "yaw": 99.69749450683594
                    }
                },
                "velocity": {
                    "x": -1.4069586992263794,
                    "y": 8.25319766998291,
                    "z": 0.010583858005702496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.309047698974609,
                "transform": {
                    "location": {
                        "x": 3560.567626953125,
                        "y": 4241.16943359375,
                        "z": 367.6194763183594
                    },
                    "rotation": {
                        "roll": 0.001969375414773822,
                        "pitch": -0.5865219831466675,
                        "yaw": -170.93673706054688
                    }
                },
                "velocity": {
                    "x": -7.217689037322998,
                    "y": -1.1497807502746582,
                    "z": -0.07174976170063019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010930689750239253,
                "transform": {
                    "location": {
                        "x": 3532.046142578125,
                        "y": 4213.37841796875,
                        "z": 367.3309631347656
                    },
                    "rotation": {
                        "roll": -0.000885007088072598,
                        "pitch": -0.07504328340291977,
                        "yaw": 99.30784606933594
                    }
                },
                "velocity": {
                    "x": -1.2554013665067032e-05,
                    "y": 0.0009326435974799097,
                    "z": 0.0005699280882254243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.677008628845215,
                "transform": {
                    "location": {
                        "x": 3500.2861328125,
                        "y": 4234.7626953125,
                        "z": 367.0808410644531
                    },
                    "rotation": {
                        "roll": -0.0005493185017257929,
                        "pitch": 0.7079012393951416,
                        "yaw": 8.912975311279297
                    }
                },
                "velocity": {
                    "x": 7.582169532775879,
                    "y": 1.2006065845489502,
                    "z": 0.07554075121879578
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00941598229110241,
                "transform": {
                    "location": {
                        "x": 3543.691162109375,
                        "y": 4238.4931640625,
                        "z": 367.4606018066406
                    },
                    "rotation": {
                        "roll": 0.0008476360817439854,
                        "pitch": -1.2827435731887817,
                        "yaw": -171.0150146484375
                    }
                },
                "velocity": {
                    "x": 0.009110445156693459,
                    "y": 0.0013225317234173417,
                    "z": 0.0019777321722358465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00038859699270688,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -0.00042724786908365786,
                        "pitch": 0.11635909974575043,
                        "yaw": 99.20563507080078
                    }
                },
                "velocity": {
                    "x": -1.403230180585524e-05,
                    "y": -2.0109340766794048e-05,
                    "z": 0.0003878225397784263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.196656227111816,
                "transform": {
                    "location": {
                        "x": 3516.0830078125,
                        "y": 4311.57373046875,
                        "z": 367.6343994140625
                    },
                    "rotation": {
                        "roll": -0.0015869244234636426,
                        "pitch": 0.23077842593193054,
                        "yaw": 99.22632598876953
                    }
                },
                "velocity": {
                    "x": -1.4756289720535278,
                    "y": 9.077406883239746,
                    "z": 0.04103441163897514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.036815166473389,
                "transform": {
                    "location": {
                        "x": 3515.9970703125,
                        "y": 4237.251953125,
                        "z": 367.22119140625
                    },
                    "rotation": {
                        "roll": 0.0017004413530230522,
                        "pitch": 0.4724988043308258,
                        "yaw": 8.999252319335938
                    }
                },
                "velocity": {
                    "x": 4.974642276763916,
                    "y": 0.7877815365791321,
                    "z": 0.04287903755903244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.400408744812012,
                "transform": {
                    "location": {
                        "x": 3539.654541015625,
                        "y": 4240.994140625,
                        "z": 367.4637145996094
                    },
                    "rotation": {
                        "roll": 0.0008273350540548563,
                        "pitch": 0.6202016472816467,
                        "yaw": 8.983670234680176
                    }
                },
                "velocity": {
                    "x": 13.23547077178955,
                    "y": 2.0926263332366943,
                    "z": 0.11905818432569504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.45115327835083,
                "transform": {
                    "location": {
                        "x": 3523.498046875,
                        "y": 4285.8798828125,
                        "z": 367.5484924316406
                    },
                    "rotation": {
                        "roll": -0.0011291545815765858,
                        "pitch": -0.18173083662986755,
                        "yaw": -80.74930572509766
                    }
                },
                "velocity": {
                    "x": 1.0383553504943848,
                    "y": -6.366967678070068,
                    "z": -0.03031681478023529
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.313337802886963,
                "transform": {
                    "location": {
                        "x": 3526.062744140625,
                        "y": 4270.10009765625,
                        "z": 367.45068359375
                    },
                    "rotation": {
                        "roll": 0.00020972428319510072,
                        "pitch": -0.2957744896411896,
                        "yaw": -80.77870178222656
                    }
                },
                "velocity": {
                    "x": 0.6927680969238281,
                    "y": -4.257309913635254,
                    "z": -0.016400394961237907
                },
                "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": -0.06468815356492996,
        "expert_target_speed": 5.735900069102495,
        "target_point": [
            9.983555075487265,
            6.141509382405995
        ],
        "target_point_next": [
            12.578343198146298,
            57.07548751881422
        ]
    },
    "275": {
        "acceleration": [
            2.0177149772644043,
            -0.08147239685058594,
            -0.011598020792007446
        ],
        "angular_velocity": [
            1.6318382024765015,
            -0.875693142414093,
            12.370168685913086
        ],
        "forward_vector": [
            0.240877166390419,
            -0.9705496430397034,
            0.0033942393492907286
        ],
        "right_vector": [
            0.9705311059951782,
            0.24089445173740387,
            0.00626154663041234
        ],
        "location": [
            3529.63427734375,
            4247.86474609375,
            367.3662109375
        ],
        "rotation": [
            -0.3587646186351776,
            0.1944759637117386,
            -76.06159973144531
        ],
        "velocity": [
            1.529535174369812,
            -5.099942207336426,
            -0.014234380796551704
        ],
        "speed": 5.324367414802065,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.892608642578125,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.68798828125,
                4238.4921875,
                367.4588317871094
            ],
            "velocity": [
                0.0038404546212404966,
                0.00044752564281225204,
                0.001600364106707275
            ],
            "speed_kmh": 0.015064413324113686,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.23132875561714172,
                "transform": {
                    "location": {
                        "x": 3577.55126953125,
                        "y": 4243.95068359375,
                        "z": 367.7375793457031
                    },
                    "rotation": {
                        "roll": 0.00018140202155336738,
                        "pitch": -0.5538873076438904,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": -0.0022302530705928802,
                    "y": -0.0004275099199730903,
                    "z": 0.23131760954856873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.483941555023193,
                "transform": {
                    "location": {
                        "x": 3534.482421875,
                        "y": 4198.50146484375,
                        "z": 367.27301025390625
                    },
                    "rotation": {
                        "roll": 0.013582009822130203,
                        "pitch": 0.0416778102517128,
                        "yaw": 99.55479431152344
                    }
                },
                "velocity": {
                    "x": -1.2354236841201782,
                    "y": 7.381260871887207,
                    "z": 0.009836739860475063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.041417598724365,
                "transform": {
                    "location": {
                        "x": 3558.793701171875,
                        "y": 4240.88671875,
                        "z": 367.6023864746094
                    },
                    "rotation": {
                        "roll": 0.0015281278174370527,
                        "pitch": -0.5856613516807556,
                        "yaw": -170.95237731933594
                    }
                },
                "velocity": {
                    "x": -6.953464031219482,
                    "y": -1.107364535331726,
                    "z": -0.06814804673194885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2449790239334106,
                "transform": {
                    "location": {
                        "x": 3532.01513671875,
                        "y": 4213.56591796875,
                        "z": 367.32965087890625
                    },
                    "rotation": {
                        "roll": -0.0005493245553225279,
                        "pitch": 0.12416600435972214,
                        "yaw": 99.29773712158203
                    }
                },
                "velocity": {
                    "x": -0.20248925685882568,
                    "y": 1.228400468826294,
                    "z": 0.001721019740216434
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.513859748840332,
                "transform": {
                    "location": {
                        "x": 3502.036865234375,
                        "y": 4235.0390625,
                        "z": 367.0978698730469
                    },
                    "rotation": {
                        "roll": 6.647984264418483e-05,
                        "pitch": 0.46941837668418884,
                        "yaw": 8.727004051208496
                    }
                },
                "velocity": {
                    "x": 6.433726787567139,
                    "y": 1.0165934562683105,
                    "z": 0.06373943388462067
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00418455945327878,
                "transform": {
                    "location": {
                        "x": 3543.68798828125,
                        "y": 4238.4921875,
                        "z": 367.4588317871094
                    },
                    "rotation": {
                        "roll": -0.00027466064784675837,
                        "pitch": -0.7839622497558594,
                        "yaw": -171.01513671875
                    }
                },
                "velocity": {
                    "x": 0.0038404546212404966,
                    "y": 0.00044752564281225204,
                    "z": 0.001600364106707275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013653455243911594,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -0.00042724786908365786,
                        "pitch": 0.11635909974575043,
                        "yaw": 99.20563507080078
                    }
                },
                "velocity": {
                    "x": 2.479259819665458e-06,
                    "y": 7.107313649612479e-06,
                    "z": 0.00013632689660880715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.437554359436035,
                "transform": {
                    "location": {
                        "x": 3515.73095703125,
                        "y": 4313.7412109375,
                        "z": 367.64508056640625
                    },
                    "rotation": {
                        "roll": -0.0007019038312137127,
                        "pitch": 0.04208079352974892,
                        "yaw": 99.23219299316406
                    }
                },
                "velocity": {
                    "x": -1.35367751121521,
                    "y": 8.328164100646973,
                    "z": 0.039606381207704544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.051712989807129,
                "transform": {
                    "location": {
                        "x": 3517.246826171875,
                        "y": 4237.44970703125,
                        "z": 367.2318420410156
                    },
                    "rotation": {
                        "roll": 0.0013309729984030128,
                        "pitch": 0.47995054721832275,
                        "yaw": 8.9972562789917
                    }
                },
                "velocity": {
                    "x": 4.989396572113037,
                    "y": 0.7899312376976013,
                    "z": 0.0416412353515625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.637323379516602,
                "transform": {
                    "location": {
                        "x": 3543.013916015625,
                        "y": 4241.525390625,
                        "z": 367.4943542480469
                    },
                    "rotation": {
                        "roll": 0.00015502399764955044,
                        "pitch": 0.5591124296188354,
                        "yaw": 8.983600616455078
                    }
                },
                "velocity": {
                    "x": 13.469514846801758,
                    "y": 2.1294102668762207,
                    "z": 0.11987987160682678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.851311206817627,
                "transform": {
                    "location": {
                        "x": 3523.802001953125,
                        "y": 4284.01220703125,
                        "z": 367.53924560546875
                    },
                    "rotation": {
                        "roll": -0.0005798402125947177,
                        "pitch": -0.11651618778705597,
                        "yaw": -80.75480651855469
                    }
                },
                "velocity": {
                    "x": 1.2615751028060913,
                    "y": -7.749204635620117,
                    "z": -0.036669109016656876
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.449410438537598,
                "transform": {
                    "location": {
                        "x": 3526.24169921875,
                        "y": 4268.99609375,
                        "z": 367.4460144042969
                    },
                    "rotation": {
                        "roll": 0.00011756835738196969,
                        "pitch": -0.2439880073070526,
                        "yaw": -80.77800750732422
                    }
                },
                "velocity": {
                    "x": 0.7129989266395569,
                    "y": -4.391878128051758,
                    "z": -0.017141198739409447
                },
                "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": -0.2616419792175293,
        "expert_target_speed": 6.212810447702443,
        "target_point": [
            8.883564309793329,
            5.770782953738432
        ],
        "target_point_next": [
            13.28435420313516,
            56.58058616646761
        ]
    },
    "280": {
        "acceleration": [
            2.224888801574707,
            -1.3331222534179688,
            -0.08259516209363937
        ],
        "angular_velocity": [
            0.23529738187789917,
            -0.8764796853065491,
            18.260499954223633
        ],
        "forward_vector": [
            0.30599483847618103,
            -0.9520306587219238,
            0.002176879206672311
        ],
        "right_vector": [
            0.9519655108451843,
            0.3059995174407959,
            0.011223363690078259
        ],
        "location": [
            3530.078369140625,
            4246.55419921875,
            367.3624572753906
        ],
        "rotation": [
            -0.64306640625,
            0.1247260794043541,
            -72.18193054199219
        ],
        "velocity": [
            2.171109676361084,
            -5.541489601135254,
            -0.02148762159049511
        ],
        "speed": 5.95162366302498,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.817512512207031,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0012289269361644983,
                0.00023040108499117196,
                0.0014177398988977075
            ],
            "speed_kmh": 0.006805173703835663,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3452.84716796875,
                        "y": 4227.2626953125,
                        "z": 366.57818603515625
                    },
                    "rotation": {
                        "roll": 6.670650698481495e-09,
                        "pitch": 0.7321074604988098,
                        "yaw": 8.988388061523438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09117431193590164,
                "transform": {
                    "location": {
                        "x": 3577.550537109375,
                        "y": 4243.95068359375,
                        "z": 367.7839660644531
                    },
                    "rotation": {
                        "roll": 6.670418883913953e-09,
                        "pitch": -0.5542288422584534,
                        "yaw": -171.01161193847656
                    }
                },
                "velocity": {
                    "x": -0.0009295140043832362,
                    "y": 1.6527184925507754e-05,
                    "z": 0.091169573366642
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.5915164947509766,
                "transform": {
                    "location": {
                        "x": 3534.23095703125,
                        "y": 4200.0087890625,
                        "z": 367.27471923828125
                    },
                    "rotation": {
                        "roll": 0.005874367896467447,
                        "pitch": -0.5516948103904724,
                        "yaw": 99.46622467041016
                    }
                },
                "velocity": {
                    "x": -0.5900731682777405,
                    "y": 3.542710542678833,
                    "z": 0.002317781327292323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.752188682556152,
                "transform": {
                    "location": {
                        "x": 3557.092041015625,
                        "y": 4240.61572265625,
                        "z": 367.58599853515625
                    },
                    "rotation": {
                        "roll": 0.0005331492866389453,
                        "pitch": -0.5840767621994019,
                        "yaw": -170.96923828125
                    }
                },
                "velocity": {
                    "x": -6.668341636657715,
                    "y": -1.0588371753692627,
                    "z": -0.06430276483297348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0692975521087646,
                "transform": {
                    "location": {
                        "x": 3531.948974609375,
                        "y": 4213.96923828125,
                        "z": 367.3299255371094
                    },
                    "rotation": {
                        "roll": 0.0006053419201634824,
                        "pitch": 0.18187426030635834,
                        "yaw": 99.2824478149414
                    }
                },
                "velocity": {
                    "x": -0.3339010179042816,
                    "y": 2.042179584503174,
                    "z": 0.002138586016371846
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.21760630607605,
                "transform": {
                    "location": {
                        "x": 3503.36669921875,
                        "y": 4235.24951171875,
                        "z": 367.1102294921875
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.14442434906959534,
                        "yaw": 8.677895545959473
                    }
                },
                "velocity": {
                    "x": 3.177443265914917,
                    "y": 0.5060262084007263,
                    "z": 0.027974337339401245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0018903260352090001,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0012289269361644983,
                    "y": 0.00023040108499117196,
                    "z": 0.0014177398988977075
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013798984582535923,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": 2.4279240733449114e-06,
                        "pitch": 0.12142709642648697,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": 5.577849151450209e-06,
                    "y": -4.718825039162766e-06,
                    "z": 0.00013779629080090672
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3515.40673828125,
                        "y": 4315.794921875,
                        "z": 367.6549377441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2612820565700531,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.415459632873535,
                "transform": {
                    "location": {
                        "x": 3518.419921875,
                        "y": 4237.63720703125,
                        "z": 367.2415466308594
                    },
                    "rotation": {
                        "roll": -0.001800535130314529,
                        "pitch": 0.4677245020866394,
                        "yaw": 8.433606147766113
                    }
                },
                "velocity": {
                    "x": 4.364747047424316,
                    "y": 0.6662302017211914,
                    "z": 0.03745649382472038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.455778121948242,
                "transform": {
                    "location": {
                        "x": 3546.35595703125,
                        "y": 4242.0537109375,
                        "z": 367.525146484375
                    },
                    "rotation": {
                        "roll": -3.052033935091458e-05,
                        "pitch": 0.5223591923713684,
                        "yaw": 8.98983383178711
                    }
                },
                "velocity": {
                    "x": 13.290006637573242,
                    "y": 2.1020452976226807,
                    "z": 0.12278171628713608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.856207847595215,
                "transform": {
                    "location": {
                        "x": 3524.0986328125,
                        "y": 4282.189453125,
                        "z": 367.5324401855469
                    },
                    "rotation": {
                        "roll": -6.103237683419138e-05,
                        "pitch": -0.3118595778942108,
                        "yaw": -80.75975799560547
                    }
                },
                "velocity": {
                    "x": 1.0997364521026611,
                    "y": -6.767367362976074,
                    "z": -0.030133789405226707
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.636659622192383,
                "transform": {
                    "location": {
                        "x": 3526.423095703125,
                        "y": 4267.88134765625,
                        "z": 367.44158935546875
                    },
                    "rotation": {
                        "roll": 9.218164632329717e-05,
                        "pitch": -0.23506778478622437,
                        "yaw": -80.77410125732422
                    }
                },
                "velocity": {
                    "x": 0.7433159947395325,
                    "y": -4.576658725738525,
                    "z": -0.01697480119764805
                },
                "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": -0.3636724054813385,
        "expert_target_speed": 6.817097256811455,
        "target_point": [
            7.870091142935966,
            5.134715958342132
        ],
        "target_point_next": [
            15.698654266565484,
            55.530317488842314
        ]
    },
    "285": {
        "acceleration": [
            3.213376998901367,
            1.5041732788085938,
            -0.03986328840255737
        ],
        "angular_velocity": [
            1.6651051044464111,
            -1.3704698085784912,
            25.51061248779297
        ],
        "forward_vector": [
            0.3958798050880432,
            -0.9183010458946228,
            -0.0015621179481968284
        ],
        "right_vector": [
            0.9181686043739319,
            0.39579254388809204,
            0.017741026356816292
        ],
        "location": [
            3530.689208984375,
            4245.18505859375,
            367.3574523925781
        ],
        "rotation": [
            -1.01654052734375,
            -0.08950279653072357,
            -66.67911529541016
        ],
        "velocity": [
            2.826378107070923,
            -5.302288055419922,
            -0.02501576766371727
        ],
        "speed": 6.008549893841158,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.619890213012695,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3456.303466796875,
                        "y": 4227.8095703125,
                        "z": 366.57952880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.206451892852783,
                "transform": {
                    "location": {
                        "x": 3577.32373046875,
                        "y": 4243.9111328125,
                        "z": 367.79095458984375
                    },
                    "rotation": {
                        "roll": 0.007249332498759031,
                        "pitch": -0.7458497881889343,
                        "yaw": -170.9080810546875
                    }
                },
                "velocity": {
                    "x": -2.1720519065856934,
                    "y": -0.387521892786026,
                    "z": -0.021154088899493217
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4266500473022461,
                "transform": {
                    "location": {
                        "x": 3534.19140625,
                        "y": 4200.244140625,
                        "z": 367.2749938964844
                    },
                    "rotation": {
                        "roll": 0.0010991141898557544,
                        "pitch": -0.6345518827438354,
                        "yaw": 99.45664978027344
                    }
                },
                "velocity": {
                    "x": -0.06987710297107697,
                    "y": 0.4208821654319763,
                    "z": 0.0023773573338985443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.156529188156128,
                "transform": {
                    "location": {
                        "x": 3555.705322265625,
                        "y": 4240.39599609375,
                        "z": 367.5720520019531
                    },
                    "rotation": {
                        "roll": 0.0003222002414986491,
                        "pitch": -0.9834242463111877,
                        "yaw": -170.98779296875
                    }
                },
                "velocity": {
                    "x": -3.1173620223999023,
                    "y": -0.4947304129600525,
                    "z": -0.031173400580883026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1606803685426712,
                "transform": {
                    "location": {
                        "x": 3531.876220703125,
                        "y": 4214.408203125,
                        "z": 367.3322448730469
                    },
                    "rotation": {
                        "roll": 0.00012041896843584254,
                        "pitch": -0.005737358704209328,
                        "yaw": 99.1536865234375
                    }
                },
                "velocity": {
                    "x": -0.02878318727016449,
                    "y": 0.15808023512363434,
                    "z": 0.0005919456598348916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4805748462677,
                "transform": {
                    "location": {
                        "x": 3503.904541015625,
                        "y": 4235.33447265625,
                        "z": 367.11566162109375
                    },
                    "rotation": {
                        "roll": 0.0013463684590533376,
                        "pitch": 0.3429369628429413,
                        "yaw": 8.698531150817871
                    }
                },
                "velocity": {
                    "x": 2.450608491897583,
                    "y": 0.38367030024528503,
                    "z": 0.0237937830388546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.221413059392944e-05,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": 2.4279240733449114e-06,
                        "pitch": 0.12142709642648697,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -2.3853768652770668e-05,
                    "y": -1.3638808923133183e-05,
                    "z": -5.581737059401348e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3515.123046875,
                        "y": 4317.8408203125,
                        "z": 367.66619873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2612820565700531,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.60429048538208,
                "transform": {
                    "location": {
                        "x": 3519.54150390625,
                        "y": 4237.810546875,
                        "z": 367.2511291503906
                    },
                    "rotation": {
                        "roll": -0.004364015534520149,
                        "pitch": 0.48305827379226685,
                        "yaw": 8.62617015838623
                    }
                },
                "velocity": {
                    "x": 4.548129081726074,
                    "y": 0.7159865498542786,
                    "z": 0.037084586918354034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.447967529296875,
                "transform": {
                    "location": {
                        "x": 3549.67431640625,
                        "y": 4242.578125,
                        "z": 367.55584716796875
                    },
                    "rotation": {
                        "roll": 7.594233466079459e-05,
                        "pitch": 0.5237935185432434,
                        "yaw": 8.976208686828613
                    }
                },
                "velocity": {
                    "x": 13.282581329345703,
                    "y": 2.0989694595336914,
                    "z": 0.12327571958303452
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.369554042816162,
                "transform": {
                    "location": {
                        "x": 3524.27001953125,
                        "y": 4281.103515625,
                        "z": 367.53076171875
                    },
                    "rotation": {
                        "roll": -0.00378415803425014,
                        "pitch": -0.7054423689842224,
                        "yaw": -80.39253997802734
                    }
                },
                "velocity": {
                    "x": 0.20763656497001648,
                    "y": -1.3537057638168335,
                    "z": -0.006772031541913748
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.0406341552734375,
                "transform": {
                    "location": {
                        "x": 3526.597412109375,
                        "y": 4266.80810546875,
                        "z": 367.43707275390625
                    },
                    "rotation": {
                        "roll": 0.0001428676478099078,
                        "pitch": -0.17150604724884033,
                        "yaw": -80.77738952636719
                    }
                },
                "velocity": {
                    "x": 0.6478184461593628,
                    "y": -3.9883334636688232,
                    "z": -0.015817822888493538
                },
                "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": -0.348350465297699,
        "expert_target_speed": 6.902214063386034,
        "target_point": [
            6.82711158525163,
            4.337429354490639
        ],
        "target_point_next": [
            19.452290936359102,
            53.7500583126221
        ]
    },
    "290": {
        "acceleration": [
            1.8055295944213867,
            3.3094310760498047,
            0.1214231550693512
        ],
        "angular_velocity": [
            -0.9034619331359863,
            -0.8948439359664917,
            33.03960037231445
        ],
        "forward_vector": [
            0.5112900733947754,
            -0.8594070672988892,
            -0.001393436803482473
        ],
        "right_vector": [
            0.8591558933258057,
            0.5111000537872314,
            0.025055037811398506
        ],
        "location": [
            3531.4638671875,
            4243.92724609375,
            367.35693359375
        ],
        "rotation": [
            -1.4356995820999146,
            -0.07983807474374771,
            -59.25017166137695
        ],
        "velocity": [
            3.498379707336426,
            -4.634654998779297,
            0.024915102869272232
        ],
        "speed": 5.8067794459935556,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.377197265625,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3459.760498046875,
                        "y": 4228.3564453125,
                        "z": 366.6002197265625
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3822989463806152,
                "transform": {
                    "location": {
                        "x": 3576.620849609375,
                        "y": 4243.7939453125,
                        "z": 367.7829284667969
                    },
                    "rotation": {
                        "roll": -0.0008850190788507462,
                        "pitch": -0.7000123858451843,
                        "yaw": -170.7696990966797
                    }
                },
                "velocity": {
                    "x": -3.335174798965454,
                    "y": -0.5615899562835693,
                    "z": -0.034234531223773956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9180662631988525,
                "transform": {
                    "location": {
                        "x": 3534.140625,
                        "y": 4200.55322265625,
                        "z": 367.2757873535156
                    },
                    "rotation": {
                        "roll": 0.001322806696407497,
                        "pitch": 0.15099498629570007,
                        "yaw": 99.40992736816406
                    }
                },
                "velocity": {
                    "x": -0.31371423602104187,
                    "y": 1.8922364711761475,
                    "z": 0.0016004466451704502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7979002594947815,
                "transform": {
                    "location": {
                        "x": 3555.4912109375,
                        "y": 4240.36181640625,
                        "z": 367.570068359375
                    },
                    "rotation": {
                        "roll": -0.0010986339766532183,
                        "pitch": -0.9391441345214844,
                        "yaw": -170.987060546875
                    }
                },
                "velocity": {
                    "x": -0.7875549793243408,
                    "y": -0.12790612876415253,
                    "z": -0.0064828298054635525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0506107807159424,
                "transform": {
                    "location": {
                        "x": 3531.85546875,
                        "y": 4214.53564453125,
                        "z": 367.33154296875
                    },
                    "rotation": {
                        "roll": 0.0004451403219718486,
                        "pitch": 0.10663973540067673,
                        "yaw": 99.15509033203125
                    }
                },
                "velocity": {
                    "x": -0.1685277670621872,
                    "y": 1.0370051860809326,
                    "z": 0.0012322425609454513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.018941879272461,
                "transform": {
                    "location": {
                        "x": 3504.713623046875,
                        "y": 4235.4619140625,
                        "z": 367.12396240234375
                    },
                    "rotation": {
                        "roll": -0.00357055920176208,
                        "pitch": 0.6802526712417603,
                        "yaw": 8.817426681518555
                    }
                },
                "velocity": {
                    "x": 3.969953775405884,
                    "y": 0.6244136095046997,
                    "z": 0.03834208473563194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005347966798581183,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": 2.4279240733449114e-06,
                        "pitch": 0.12142709642648697,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -5.800418875878677e-05,
                    "y": -3.380406633368693e-05,
                    "z": -0.0005305660306476057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3514.8427734375,
                        "y": 4319.79541015625,
                        "z": 367.6766662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2612820565700531,
                        "yaw": 99.229248046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.25313663482666,
                "transform": {
                    "location": {
                        "x": 3520.6318359375,
                        "y": 4237.98095703125,
                        "z": 367.2603759765625
                    },
                    "rotation": {
                        "roll": 0.0008782666409388185,
                        "pitch": 0.4772457778453827,
                        "yaw": 8.799970626831055
                    }
                },
                "velocity": {
                    "x": 4.200673580169678,
                    "y": 0.6649473905563354,
                    "z": 0.03681996092200279
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.480367660522461,
                "transform": {
                    "location": {
                        "x": 3553.000244140625,
                        "y": 4243.10400390625,
                        "z": 367.5868225097656
                    },
                    "rotation": {
                        "roll": 0.0012482129968702793,
                        "pitch": 0.543232262134552,
                        "yaw": 8.991589546203613
                    }
                },
                "velocity": {
                    "x": 13.314262390136719,
                    "y": 2.105928897857666,
                    "z": 0.12564203143119812
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.041473388671875,
                "transform": {
                    "location": {
                        "x": 3524.289306640625,
                        "y": 4280.9833984375,
                        "z": 367.52789306640625
                    },
                    "rotation": {
                        "roll": -0.0060119847767055035,
                        "pitch": -0.42394980788230896,
                        "yaw": -80.39201354980469
                    }
                },
                "velocity": {
                    "x": 0.16903464496135712,
                    "y": -1.0276563167572021,
                    "z": -0.004090366419404745
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.700414180755615,
                "transform": {
                    "location": {
                        "x": 3526.76904296875,
                        "y": 4265.7529296875,
                        "z": 367.43377685546875
                    },
                    "rotation": {
                        "roll": 0.00022513156000059098,
                        "pitch": -0.2491106390953064,
                        "yaw": -80.7707290649414
                    }
                },
                "velocity": {
                    "x": 0.7538480758666992,
                    "y": -4.639542579650879,
                    "z": -0.015831908211112022
                },
                "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": -0.22733138501644135,
        "expert_target_speed": 6.74909765030735,
        "target_point": [
            24.761621780980224,
            50.76114186295394
        ],
        "target_point_next": [
            25.50302979179227,
            52.61854478800415
        ]
    },
    "295": {
        "acceleration": [
            2.6310014724731445,
            4.55233097076416,
            0.0283706933259964
        ],
        "angular_velocity": [
            0.0849490836262703,
            -2.0668506622314453,
            39.794898986816406
        ],
        "forward_vector": [
            0.6422002911567688,
            -0.7665281891822815,
            0.003661147318780422
        ],
        "right_vector": [
            0.7661044597625732,
            0.6419910788536072,
            0.030521277338266373
        ],
        "location": [
            3532.39208984375,
            4242.8740234375,
            367.3611755371094
        ],
        "rotation": [
            -1.749023675918579,
            0.20976875722408295,
            -50.04359436035156
        ],
        "velocity": [
            4.068826675415039,
            -3.651219129562378,
            0.02178945578634739
        ],
        "speed": 5.466877687185917,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.115264892578125,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3463.217529296875,
                        "y": 4228.9033203125,
                        "z": 366.64019775390625
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.527688980102539,
                "transform": {
                    "location": {
                        "x": 3575.639892578125,
                        "y": 4243.6298828125,
                        "z": 367.7728576660156
                    },
                    "rotation": {
                        "roll": -0.0021057110279798508,
                        "pitch": -0.672753095626831,
                        "yaw": -170.64659118652344
                    }
                },
                "velocity": {
                    "x": -4.464670181274414,
                    "y": -0.7515261173248291,
                    "z": -0.04359281808137894
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1483688354492188,
                "transform": {
                    "location": {
                        "x": 3534.046875,
                        "y": 4201.1171875,
                        "z": 367.27655029296875
                    },
                    "rotation": {
                        "roll": -0.00015257253835443407,
                        "pitch": 0.1520741581916809,
                        "yaw": 99.52680206298828
                    }
                },
                "velocity": {
                    "x": -0.35065126419067383,
                    "y": 2.119558095932007,
                    "z": 0.0024879740085452795
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9147992134094238,
                "transform": {
                    "location": {
                        "x": 3555.140869140625,
                        "y": 4240.306640625,
                        "z": 367.56744384765625
                    },
                    "rotation": {
                        "roll": 0.001486705499701202,
                        "pitch": -0.4953594505786896,
                        "yaw": -171.05435180664062
                    }
                },
                "velocity": {
                    "x": -1.891385793685913,
                    "y": -0.2979511320590973,
                    "z": -0.01846284419298172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8228329420089722,
                "transform": {
                    "location": {
                        "x": 3531.798095703125,
                        "y": 4214.890625,
                        "z": 367.3316650390625
                    },
                    "rotation": {
                        "roll": 0.00038407984538935125,
                        "pitch": 0.17457279562950134,
                        "yaw": 99.18942260742188
                    }
                },
                "velocity": {
                    "x": -0.29386332631111145,
                    "y": 1.7989881038665771,
                    "z": 0.0024685764219611883
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.023223876953125,
                "transform": {
                    "location": {
                        "x": 3505.769287109375,
                        "y": 4235.6279296875,
                        "z": 367.13397216796875
                    },
                    "rotation": {
                        "roll": -0.0021057140547782183,
                        "pitch": 0.5716936588287354,
                        "yaw": 8.909937858581543
                    }
                },
                "velocity": {
                    "x": 3.9736995697021484,
                    "y": 0.6282188296318054,
                    "z": 0.03719677776098251
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005364707903936505,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -0.0007324126781895757,
                        "pitch": 0.12133830040693283,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -6.550980469910428e-05,
                    "y": -3.9540584111819044e-05,
                    "z": 0.0005309858242981136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.076435089111328,
                "transform": {
                    "location": {
                        "x": 3521.657470703125,
                        "y": 4238.14306640625,
                        "z": 367.2692565917969
                    },
                    "rotation": {
                        "roll": -0.004577635321766138,
                        "pitch": 0.4813438951969147,
                        "yaw": 8.897727012634277
                    }
                },
                "velocity": {
                    "x": 4.0259690284729,
                    "y": 0.6384830474853516,
                    "z": 0.03515775501728058
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.475728988647461,
                "transform": {
                    "location": {
                        "x": 3556.32861328125,
                        "y": 4243.63134765625,
                        "z": 367.61846923828125
                    },
                    "rotation": {
                        "roll": -0.000274660560535267,
                        "pitch": 0.5414085984230042,
                        "yaw": 8.986777305603027
                    }
                },
                "velocity": {
                    "x": 13.309612274169922,
                    "y": 2.105536699295044,
                    "z": 0.12723365426063538
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8733974695205688,
                "transform": {
                    "location": {
                        "x": 3524.349365234375,
                        "y": 4280.61865234375,
                        "z": 367.5244140625
                    },
                    "rotation": {
                        "roll": -0.0013122587697580457,
                        "pitch": -0.2097482681274414,
                        "yaw": -80.45442199707031
                    }
                },
                "velocity": {
                    "x": 0.30221304297447205,
                    "y": -1.8488447666168213,
                    "z": -0.007637185975909233
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.174407482147217,
                "transform": {
                    "location": {
                        "x": 3526.973388671875,
                        "y": 4264.4931640625,
                        "z": 367.4295349121094
                    },
                    "rotation": {
                        "roll": 0.0001649000187171623,
                        "pitch": -0.2564121186733246,
                        "yaw": -80.7717514038086
                    }
                },
                "velocity": {
                    "x": 0.8299162983894348,
                    "y": -5.107386112213135,
                    "z": -0.018378444015979767
                },
                "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": -0.07166600227355957,
        "expert_target_speed": 6.461598403962666,
        "target_point": [
            31.160734062518273,
            46.11035933454803
        ],
        "target_point_next": [
            32.189766529960494,
            47.825213160805866
        ]
    },
    "300": {
        "acceleration": [
            -2.971506118774414,
            7.213401794433594,
            0.012396052479743958
        ],
        "angular_velocity": [
            1.244117021560669,
            1.1427891254425049,
            41.073341369628906
        ],
        "forward_vector": [
            0.7702046036720276,
            -0.6377823352813721,
            0.004316792823374271
        ],
        "right_vector": [
            0.6373507976531982,
            0.7699013352394104,
            0.03218696266412735
        ],
        "location": [
            3533.425537109375,
            4242.09033203125,
            367.3682861328125
        ],
        "rotation": [
            -1.844512939453125,
            0.2473347932100296,
            -39.62709045410156
        ],
        "velocity": [
            4.2043375968933105,
            -2.306976556777954,
            0.0423172265291214
        ],
        "speed": 4.795685087886159,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.874170303344727,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.34094524383545,
                "transform": {
                    "location": {
                        "x": 3466.471435546875,
                        "y": 4229.41796875,
                        "z": 366.6788635253906
                    },
                    "rotation": {
                        "roll": -0.00021362543338909745,
                        "pitch": 0.6851908564567566,
                        "yaw": 8.989535331726074
                    }
                },
                "velocity": {
                    "x": 12.188709259033203,
                    "y": 1.928139090538025,
                    "z": 0.12864746153354645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.285488605499268,
                "transform": {
                    "location": {
                        "x": 3574.4013671875,
                        "y": 4243.42236328125,
                        "z": 367.7606201171875
                    },
                    "rotation": {
                        "roll": -0.004089355003088713,
                        "pitch": -0.6376391053199768,
                        "yaw": -170.55203247070312
                    }
                },
                "velocity": {
                    "x": -5.21193790435791,
                    "y": -0.8771958947181702,
                    "z": -0.05121475085616112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6780648827552795,
                "transform": {
                    "location": {
                        "x": 3534.021240234375,
                        "y": 4201.2734375,
                        "z": 367.27667236328125
                    },
                    "rotation": {
                        "roll": -0.0036621142644435167,
                        "pitch": -0.10045841336250305,
                        "yaw": 99.56523895263672
                    }
                },
                "velocity": {
                    "x": -0.11121687293052673,
                    "y": 0.6688781380653381,
                    "z": 0.0022024631034582853
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0227391719818115,
                "transform": {
                    "location": {
                        "x": 3554.6025390625,
                        "y": 4240.2216796875,
                        "z": 367.5623474121094
                    },
                    "rotation": {
                        "roll": 0.0025381084997206926,
                        "pitch": -0.5075991153717041,
                        "yaw": -171.17881774902344
                    }
                },
                "velocity": {
                    "x": -1.9977654218673706,
                    "y": -0.3162287473678589,
                    "z": -0.0201621912419796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1342657804489136,
                "transform": {
                    "location": {
                        "x": 3531.718017578125,
                        "y": 4215.3818359375,
                        "z": 367.33319091796875
                    },
                    "rotation": {
                        "roll": 0.00034405794576741755,
                        "pitch": 0.09978906065225601,
                        "yaw": 99.23988342285156
                    }
                },
                "velocity": {
                    "x": -0.18329058587551117,
                    "y": 1.1193575859069824,
                    "z": 0.001422395696863532
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4436323642730713,
                "transform": {
                    "location": {
                        "x": 3506.68896484375,
                        "y": 4235.7734375,
                        "z": 367.1423034667969
                    },
                    "rotation": {
                        "roll": -0.0002746574464254081,
                        "pitch": 0.4677859842777252,
                        "yaw": 8.954300880432129
                    }
                },
                "velocity": {
                    "x": 3.401050090789795,
                    "y": 0.5388814806938171,
                    "z": 0.03269517049193382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005176572012715042,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -0.0007324126781895757,
                        "pitch": 0.12133830040693283,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": 7.589857432321878e-06,
                    "y": -7.088575330271851e-06,
                    "z": 0.0005175530095584691
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.552194833755493,
                "transform": {
                    "location": {
                        "x": 3522.58642578125,
                        "y": 4238.2900390625,
                        "z": 367.2772521972656
                    },
                    "rotation": {
                        "roll": -0.004089355934411287,
                        "pitch": 0.47497814893722534,
                        "yaw": 8.944395065307617
                    }
                },
                "velocity": {
                    "x": 3.508262872695923,
                    "y": 0.5561704635620117,
                    "z": 0.02923036552965641
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.470710754394531,
                "transform": {
                    "location": {
                        "x": 3559.655029296875,
                        "y": 4244.15673828125,
                        "z": 367.6504211425781
                    },
                    "rotation": {
                        "roll": -0.0003967297379858792,
                        "pitch": 0.553122341632843,
                        "yaw": 8.99216365814209
                    }
                },
                "velocity": {
                    "x": 13.304666519165039,
                    "y": 2.1046676635742188,
                    "z": 0.12762436270713806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0995137691497803,
                "transform": {
                    "location": {
                        "x": 3524.449951171875,
                        "y": 4280.0078125,
                        "z": 367.5211181640625
                    },
                    "rotation": {
                        "roll": 0.00010197288065683097,
                        "pitch": -0.13741657137870789,
                        "yaw": -80.53358459472656
                    }
                },
                "velocity": {
                    "x": 0.4989045262336731,
                    "y": -3.059070110321045,
                    "z": -0.013018455356359482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.353733539581299,
                "transform": {
                    "location": {
                        "x": 3527.1875,
                        "y": 4263.17919921875,
                        "z": 367.42437744140625
                    },
                    "rotation": {
                        "roll": 0.00027800537645816803,
                        "pitch": -0.2186548411846161,
                        "yaw": -80.81230926513672
                    }
                },
                "velocity": {
                    "x": 0.8585521578788757,
                    "y": -5.284413814544678,
                    "z": -0.017900656908750534
                },
                "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": 0.10130880773067474,
        "expert_target_speed": 5.85903246084949,
        "target_point": [
            37.68822680825874,
            39.661008657557744
        ],
        "target_point_next": [
            39.01034909472723,
            41.16154993459904
        ]
    },
    "305": {
        "acceleration": [
            -1.8433046340942383,
            3.534669876098633,
            -0.038978010416030884
        ],
        "angular_velocity": [
            -1.8030396699905396,
            1.1108288764953613,
            35.2682991027832
        ],
        "forward_vector": [
            0.8639360666275024,
            -0.5035984516143799,
            0.0017707337392494082
        ],
        "right_vector": [
            0.5033718943595886,
            0.8636428713798523,
            0.027159258723258972
        ],
        "location": [
            3534.403564453125,
            4241.64697265625,
            367.3792419433594
        ],
        "rotation": [
            -1.556304693222046,
            0.10145562142133713,
            -30.23841094970703
        ],
        "velocity": [
            3.8390421867370605,
            -1.191787600517273,
            0.04412305727601051
        ],
        "speed": 4.019776436108554,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.804935455322266,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.26855754852295,
                "transform": {
                    "location": {
                        "x": 3469.509521484375,
                        "y": 4229.8984375,
                        "z": 366.71417236328125
                    },
                    "rotation": {
                        "roll": -0.0013122560922056437,
                        "pitch": 0.7284806370735168,
                        "yaw": 8.99071216583252
                    }
                },
                "velocity": {
                    "x": 12.116904258728027,
                    "y": 1.9169260263442993,
                    "z": 0.15338219702243805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8792572021484375,
                "transform": {
                    "location": {
                        "x": 3573.036865234375,
                        "y": 4243.19287109375,
                        "z": 367.7469787597656
                    },
                    "rotation": {
                        "roll": -0.004730223678052425,
                        "pitch": -0.6248188614845276,
                        "yaw": -170.48382568359375
                    }
                },
                "velocity": {
                    "x": -5.797272205352783,
                    "y": -0.9767113924026489,
                    "z": -0.05777006968855858
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.918007254600525,
                "transform": {
                    "location": {
                        "x": 3533.9677734375,
                        "y": 4201.595703125,
                        "z": 367.27728271484375
                    },
                    "rotation": {
                        "roll": 0.00021999541786499321,
                        "pitch": 0.24387189745903015,
                        "yaw": 99.5189437866211
                    }
                },
                "velocity": {
                    "x": -0.3150717318058014,
                    "y": 1.891950011253357,
                    "z": 0.0026023006066679955
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5541693568229675,
                "transform": {
                    "location": {
                        "x": 3554.482177734375,
                        "y": 4240.203125,
                        "z": 367.5610046386719
                    },
                    "rotation": {
                        "roll": 0.004141336306929588,
                        "pitch": -0.6631225347518921,
                        "yaw": -171.23277282714844
                    }
                },
                "velocity": {
                    "x": -0.5474902987480164,
                    "y": -0.08560927957296371,
                    "z": -0.005392465274780989
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001658028457313776,
                "transform": {
                    "location": {
                        "x": 3531.71484375,
                        "y": 4215.4013671875,
                        "z": 367.3340148925781
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": 0.0027662264183163643,
                        "yaw": 99.238037109375
                    }
                },
                "velocity": {
                    "x": 0.00021409778855741024,
                    "y": -0.0007206646259874105,
                    "z": 0.0014777898322790861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5345053672790527,
                "transform": {
                    "location": {
                        "x": 3507.509033203125,
                        "y": 4235.90380859375,
                        "z": 367.1501159667969
                    },
                    "rotation": {
                        "roll": -0.0007934622699394822,
                        "pitch": 0.5236705541610718,
                        "yaw": 8.9896240234375
                    }
                },
                "velocity": {
                    "x": 3.490649700164795,
                    "y": 0.5541363954544067,
                    "z": 0.0320366770029068
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00041781371692195535,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": 0.0003756679070647806,
                        "pitch": 0.12133830040693283,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": 5.962931027170271e-05,
                    "y": 4.3062677832494956e-06,
                    "z": 0.0004135143244639039
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.647615432739258,
                "transform": {
                    "location": {
                        "x": 3523.481201171875,
                        "y": 4238.431640625,
                        "z": 367.2848205566406
                    },
                    "rotation": {
                        "roll": -0.005157464649528265,
                        "pitch": 0.48548299074172974,
                        "yaw": 8.969743728637695
                    }
                },
                "velocity": {
                    "x": 3.6025912761688232,
                    "y": 0.5705677270889282,
                    "z": 0.029794100672006607
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.472417831420898,
                "transform": {
                    "location": {
                        "x": 3562.981201171875,
                        "y": 4244.68212890625,
                        "z": 367.6827392578125
                    },
                    "rotation": {
                        "roll": 1.2436997167242225e-05,
                        "pitch": 0.5550689697265625,
                        "yaw": 8.986533164978027
                    }
                },
                "velocity": {
                    "x": 13.30631160736084,
                    "y": 2.105024576187134,
                    "z": 0.1303618848323822
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.473499298095703,
                "transform": {
                    "location": {
                        "x": 3524.604248046875,
                        "y": 4279.0634765625,
                        "z": 367.51666259765625
                    },
                    "rotation": {
                        "roll": 0.0007866969681344926,
                        "pitch": -0.10504147410392761,
                        "yaw": -80.62125396728516
                    }
                },
                "velocity": {
                    "x": 0.7194047570228577,
                    "y": -4.415234565734863,
                    "z": -0.018868688493967056
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.842263698577881,
                "transform": {
                    "location": {
                        "x": 3527.39111328125,
                        "y": 4261.923828125,
                        "z": 367.4192810058594
                    },
                    "rotation": {
                        "roll": 6.6701342227304394e-09,
                        "pitch": -0.16509932279586792,
                        "yaw": -80.7940902709961
                    }
                },
                "velocity": {
                    "x": 0.7766836881637573,
                    "y": -4.779531955718994,
                    "z": -0.018885798752307892
                },
                "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": 0.07466505467891693,
        "expert_target_speed": 5.136543938059022,
        "target_point": [
            42.58509772202651,
            32.872087496787806
        ],
        "target_point_next": [
            44.134294842669284,
            34.13684824328238
        ]
    },
    "310": {
        "acceleration": [
            -2.1989917755126953,
            2.443549633026123,
            -0.03688465803861618
        ],
        "angular_velocity": [
            -1.3832260370254517,
            0.332555890083313,
            30.079259872436523
        ],
        "forward_vector": [
            0.9265462160110474,
            -0.3761766850948334,
            0.0017966021550819278
        ],
        "right_vector": [
            0.37607431411743164,
            0.9263867139816284,
            0.019386569038033485
        ],
        "location": [
            3535.270751953125,
            4241.41943359375,
            367.3882751464844
        ],
        "rotation": [
            -1.1108399629592896,
            0.10293777287006378,
            -22.097095489501953
        ],
        "velocity": [
            3.2546074390411377,
            -0.47393798828125,
            0.0300139132887125
        ],
        "speed": 3.288933991280152,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.910835266113281,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.225870132446289,
                "transform": {
                    "location": {
                        "x": 3472.533447265625,
                        "y": 4230.376953125,
                        "z": 366.7532043457031
                    },
                    "rotation": {
                        "roll": 0.000380107230739668,
                        "pitch": 0.734696090221405,
                        "yaw": 8.987353324890137
                    }
                },
                "velocity": {
                    "x": 12.074912071228027,
                    "y": 1.9088404178619385,
                    "z": 0.15728050470352173
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.355592250823975,
                "transform": {
                    "location": {
                        "x": 3571.44482421875,
                        "y": 4242.92724609375,
                        "z": 367.7317810058594
                    },
                    "rotation": {
                        "roll": -0.012664792127907276,
                        "pitch": -0.6951629519462585,
                        "yaw": -170.51681518554688
                    }
                },
                "velocity": {
                    "x": -7.258872032165527,
                    "y": -1.1867461204528809,
                    "z": -0.07176100462675095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1823062896728516,
                "transform": {
                    "location": {
                        "x": 3533.8740234375,
                        "y": 4202.16064453125,
                        "z": 367.2780456542969
                    },
                    "rotation": {
                        "roll": 0.0003236283373553306,
                        "pitch": 0.17093230783939362,
                        "yaw": 99.58487701416016
                    }
                },
                "velocity": {
                    "x": -0.35434848070144653,
                    "y": 2.1533455848693848,
                    "z": 0.0009299373487010598
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5632307529449463,
                "transform": {
                    "location": {
                        "x": 3554.217529296875,
                        "y": 4240.16162109375,
                        "z": 367.5587463378906
                    },
                    "rotation": {
                        "roll": 0.001609865459613502,
                        "pitch": -0.4452190399169922,
                        "yaw": -171.21644592285156
                    }
                },
                "velocity": {
                    "x": -1.5441911220550537,
                    "y": -0.24278372526168823,
                    "z": -0.01483913417905569
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008222792530432343,
                "transform": {
                    "location": {
                        "x": 3531.71484375,
                        "y": 4215.40185546875,
                        "z": 367.3334045410156
                    },
                    "rotation": {
                        "roll": -0.0007324150064960122,
                        "pitch": 0.07904577255249023,
                        "yaw": 99.23802947998047
                    }
                },
                "velocity": {
                    "x": 0.00040503160562366247,
                    "y": -5.7241504691774026e-05,
                    "z": 0.000713313405867666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.335362434387207,
                "transform": {
                    "location": {
                        "x": 3508.41552734375,
                        "y": 4236.04736328125,
                        "z": 367.15838623046875
                    },
                    "rotation": {
                        "roll": 0.0003903759934473783,
                        "pitch": 0.49744266271591187,
                        "yaw": 8.991945266723633
                    }
                },
                "velocity": {
                    "x": 3.2942123413085938,
                    "y": 0.5214431881904602,
                    "z": 0.03007403388619423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001285170146729797,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -9.154741564998403e-05,
                        "pitch": 0.12139977514743805,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -1.710809738142416e-05,
                    "y": -8.083526154223364e-06,
                    "z": 0.00012711645103991032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.206709861755371,
                "transform": {
                    "location": {
                        "x": 3524.32421875,
                        "y": 4238.56494140625,
                        "z": 367.29205322265625
                    },
                    "rotation": {
                        "roll": -0.011718742549419403,
                        "pitch": 0.47497132420539856,
                        "yaw": 8.982966423034668
                    }
                },
                "velocity": {
                    "x": 3.167098045349121,
                    "y": 0.5017105937004089,
                    "z": 0.027638854458928108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.472800254821777,
                "transform": {
                    "location": {
                        "x": 3566.3076171875,
                        "y": 4245.20849609375,
                        "z": 367.71527099609375
                    },
                    "rotation": {
                        "roll": -0.0009765668073669076,
                        "pitch": 0.5596110224723816,
                        "yaw": 8.999422073364258
                    }
                },
                "velocity": {
                    "x": 13.306467056274414,
                    "y": 2.10646653175354,
                    "z": 0.1306871622800827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.34280252456665,
                "transform": {
                    "location": {
                        "x": 3524.808349609375,
                        "y": 4277.8134765625,
                        "z": 367.5118408203125
                    },
                    "rotation": {
                        "roll": -0.0002441466203890741,
                        "pitch": -0.13970467448234558,
                        "yaw": -80.65184020996094
                    }
                },
                "velocity": {
                    "x": 0.8592372536659241,
                    "y": -5.273210525512695,
                    "z": -0.022378014400601387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.43602991104126,
                "transform": {
                    "location": {
                        "x": 3527.576171875,
                        "y": 4260.78564453125,
                        "z": 367.41522216796875
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": -0.1546013206243515,
                        "yaw": -80.78498077392578
                    }
                },
                "velocity": {
                    "x": 0.7103136777877808,
                    "y": -4.378768444061279,
                    "z": -0.014279593713581562
                },
                "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": 0.12799683213233948,
        "expert_target_speed": 4.438059838616654,
        "target_point": [
            45.92200365568384,
            26.394732109322103
        ],
        "target_point_next": [
            47.634696437597675,
            27.42735735560536
        ]
    },
    "315": {
        "acceleration": [
            -0.5588388442993164,
            1.0051307678222656,
            -0.029957033693790436
        ],
        "angular_velocity": [
            -1.1803052425384521,
            -0.44794586300849915,
            25.8538875579834
        ],
        "forward_vector": [
            0.965092658996582,
            -0.26187819242477417,
            0.003989923745393753
        ],
        "right_vector": [
            0.2617996633052826,
            0.9650186896324158,
            0.014139734208583832
        ],
        "location": [
            3536.023681640625,
            4241.32958984375,
            367.3946533203125
        ],
        "rotation": [
            -0.8101805448532104,
            0.2286064177751541,
            -15.181660652160645
        ],
        "velocity": [
            2.9340462684631348,
            -0.08749598264694214,
            0.026720408350229263
        ],
        "speed": 2.9353505842508487,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.17176628112793,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.097480773925781,
                "transform": {
                    "location": {
                        "x": 3475.4970703125,
                        "y": 4230.845703125,
                        "z": 366.7917175292969
                    },
                    "rotation": {
                        "roll": -0.0002746586687862873,
                        "pitch": 0.6977993845939636,
                        "yaw": 8.982824325561523
                    }
                },
                "velocity": {
                    "x": 10.96045970916748,
                    "y": 1.7328981161117554,
                    "z": 0.1395418643951416
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.931107044219971,
                "transform": {
                    "location": {
                        "x": 3569.510009765625,
                        "y": 4242.6103515625,
                        "z": 367.7122497558594
                    },
                    "rotation": {
                        "roll": -0.005737307947129011,
                        "pitch": -0.6413888931274414,
                        "yaw": -170.66722106933594
                    }
                },
                "velocity": {
                    "x": -7.827296733856201,
                    "y": -1.2767415046691895,
                    "z": -0.07623759657144547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6097807884216309,
                "transform": {
                    "location": {
                        "x": 3533.851806640625,
                        "y": 4202.296875,
                        "z": 367.2781066894531
                    },
                    "rotation": {
                        "roll": -0.00277710217051208,
                        "pitch": -0.093109130859375,
                        "yaw": 99.61605072021484
                    }
                },
                "velocity": {
                    "x": -0.09964068233966827,
                    "y": 0.6015807390213013,
                    "z": 0.002231321297585964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9913159608840942,
                "transform": {
                    "location": {
                        "x": 3553.73046875,
                        "y": 4240.0849609375,
                        "z": 367.55413818359375
                    },
                    "rotation": {
                        "roll": 0.0029933324549347162,
                        "pitch": -0.45785486698150635,
                        "yaw": -171.22271728515625
                    }
                },
                "velocity": {
                    "x": -1.967221736907959,
                    "y": -0.3082379102706909,
                    "z": -0.01917135715484619
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00128912681248039,
                "transform": {
                    "location": {
                        "x": 3531.71484375,
                        "y": 4215.40185546875,
                        "z": 367.3332214355469
                    },
                    "rotation": {
                        "roll": -0.0005798331694677472,
                        "pitch": 0.09710479527711868,
                        "yaw": 99.23800659179688
                    }
                },
                "velocity": {
                    "x": 0.00015187069948296994,
                    "y": -3.95438437408302e-05,
                    "z": 0.001279538730159402
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8495893478393555,
                "transform": {
                    "location": {
                        "x": 3509.147216796875,
                        "y": 4236.16357421875,
                        "z": 367.1649475097656
                    },
                    "rotation": {
                        "roll": 0.001197980367578566,
                        "pitch": 0.4440852105617523,
                        "yaw": 9.00374698638916
                    }
                },
                "velocity": {
                    "x": 2.8144164085388184,
                    "y": 0.445600301027298,
                    "z": 0.02569902315735817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.68682155769784e-05,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -9.154741564998403e-05,
                        "pitch": 0.12139977514743805,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -2.883180968638044e-05,
                    "y": -2.969244451378472e-05,
                    "z": 2.1993524569552392e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2750258445739746,
                "transform": {
                    "location": {
                        "x": 3525.115966796875,
                        "y": 4238.6904296875,
                        "z": 367.2988586425781
                    },
                    "rotation": {
                        "roll": -0.005340578034520149,
                        "pitch": 0.480216920375824,
                        "yaw": 8.992103576660156
                    }
                },
                "velocity": {
                    "x": 3.2346346378326416,
                    "y": 0.5121136903762817,
                    "z": 0.025942858308553696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.472394943237305,
                "transform": {
                    "location": {
                        "x": 3569.634033203125,
                        "y": 4245.7353515625,
                        "z": 367.748046875
                    },
                    "rotation": {
                        "roll": -0.0005798367783427238,
                        "pitch": 0.5610453486442566,
                        "yaw": 8.99334716796875
                    }
                },
                "velocity": {
                    "x": 13.306052207946777,
                    "y": 2.106482982635498,
                    "z": 0.13091525435447693
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.495446681976318,
                "transform": {
                    "location": {
                        "x": 3525.028076171875,
                        "y": 4276.46044921875,
                        "z": 367.5064697265625
                    },
                    "rotation": {
                        "roll": -0.00027466320898383856,
                        "pitch": -0.19388173520565033,
                        "yaw": -80.59052276611328
                    }
                },
                "velocity": {
                    "x": 0.8831802010536194,
                    "y": -5.423967361450195,
                    "z": -0.022487692534923553
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.983642339706421,
                "transform": {
                    "location": {
                        "x": 3527.742431640625,
                        "y": 4259.7607421875,
                        "z": 367.4117736816406
                    },
                    "rotation": {
                        "roll": -9.154751751339063e-05,
                        "pitch": -0.14864540100097656,
                        "yaw": -80.78776550292969
                    }
                },
                "velocity": {
                    "x": 0.6379578113555908,
                    "y": -3.93220591545105,
                    "z": -0.013144120573997498
                },
                "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": 0.08553002029657364,
        "expert_target_speed": 4.097172157530143,
        "target_point": [
            48.015786435507714,
            20.563009622223134
        ],
        "target_point_next": [
            49.84035218789573,
            21.381906001317645
        ]
    },
    "320": {
        "acceleration": [
            1.2466192245483398,
            0.48408156633377075,
            -0.021230317652225494
        ],
        "angular_velocity": [
            -0.7109499573707581,
            -0.6754116415977478,
            21.653409957885742
        ],
        "forward_vector": [
            0.9870090484619141,
            -0.16050037741661072,
            0.00726896058768034
        ],
        "right_vector": [
            0.1604260951280594,
            0.9869986772537231,
            0.009855938144028187
        ],
        "location": [
            3536.764892578125,
            4241.30908203125,
            367.4010314941406
        ],
        "rotation": [
            -0.5647276639938354,
            0.41648441553115845,
            -9.236186981201172
        ],
        "velocity": [
            3.0889804363250732,
            0.08101223409175873,
            0.028494413942098618
        ],
        "speed": 3.0900425754464256,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.473320007324219,
        "front_vehicle_info": {
            "id": 4015,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                3543.686767578125,
                4238.4921875,
                367.45819091796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.268388748168945,
                "transform": {
                    "location": {
                        "x": 3478.068115234375,
                        "y": 4231.25244140625,
                        "z": 366.8242492675781
                    },
                    "rotation": {
                        "roll": -0.00012207141844555736,
                        "pitch": 0.6754305362701416,
                        "yaw": 8.995291709899902
                    }
                },
                "velocity": {
                    "x": 10.14163589477539,
                    "y": 1.6034349203109741,
                    "z": 0.12657035887241364
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.04248571395874,
                "transform": {
                    "location": {
                        "x": 3567.6591796875,
                        "y": 4242.30810546875,
                        "z": 367.69281005859375
                    },
                    "rotation": {
                        "roll": -0.0035705603659152985,
                        "pitch": -0.48770278692245483,
                        "yaw": -170.72509765625
                    }
                },
                "velocity": {
                    "x": -6.950494289398193,
                    "y": -1.132468581199646,
                    "z": -0.06890939921140671
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7811731100082397,
                "transform": {
                    "location": {
                        "x": 3533.80078125,
                        "y": 4202.60498046875,
                        "z": 367.2787170410156
                    },
                    "rotation": {
                        "roll": 0.000575341226067394,
                        "pitch": 0.22745895385742188,
                        "yaw": 99.55587005615234
                    }
                },
                "velocity": {
                    "x": -0.2908341884613037,
                    "y": 1.7572671175003052,
                    "z": 0.002384042600169778
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00206716638058424,
                "transform": {
                    "location": {
                        "x": 3553.59423828125,
                        "y": 4240.0634765625,
                        "z": 367.552490234375
                    },
                    "rotation": {
                        "roll": 0.005056444089859724,
                        "pitch": -0.7418199777603149,
                        "yaw": -171.29566955566406
                    }
                },
                "velocity": {
                    "x": 0.001853859401308,
                    "y": 0.0003603512595873326,
                    "z": -0.0008405527332797647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009081860771402717,
                "transform": {
                    "location": {
                        "x": 3531.71484375,
                        "y": 4215.40185546875,
                        "z": 367.3331604003906
                    },
                    "rotation": {
                        "roll": 0.0004705701139755547,
                        "pitch": 0.10497317463159561,
                        "yaw": 99.2380142211914
                    }
                },
                "velocity": {
                    "x": -1.959567953235819e-06,
                    "y": -1.360228270641528e-05,
                    "z": 0.0009080821182578802
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.41670298576355,
                "transform": {
                    "location": {
                        "x": 3509.947021484375,
                        "y": 4236.29052734375,
                        "z": 367.17242431640625
                    },
                    "rotation": {
                        "roll": 0.00041500708903186023,
                        "pitch": 0.5589211583137512,
                        "yaw": 9.000438690185547
                    }
                },
                "velocity": {
                    "x": 3.3743395805358887,
                    "y": 0.5355536341667175,
                    "z": 0.029568813741207123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.238207450020127e-06,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -9.154741564998403e-05,
                        "pitch": 0.12139977514743805,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -1.0652700410673788e-07,
                    "y": -4.54336395705468e-06,
                    "z": 2.6048626295960275e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.236022710800171,
                "transform": {
                    "location": {
                        "x": 3525.92333984375,
                        "y": 4238.818359375,
                        "z": 367.3055725097656
                    },
                    "rotation": {
                        "roll": -0.0017700210446491838,
                        "pitch": 0.4783044755458832,
                        "yaw": 8.999313354492188
                    }
                },
                "velocity": {
                    "x": 3.195923089981079,
                    "y": 0.5071955323219299,
                    "z": 0.025913208723068237
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.472393035888672,
                "transform": {
                    "location": {
                        "x": 3572.960205078125,
                        "y": 4246.26123046875,
                        "z": 367.78076171875
                    },
                    "rotation": {
                        "roll": 0.0003919743176084012,
                        "pitch": 0.5619401335716248,
                        "yaw": 8.986262321472168
                    }
                },
                "velocity": {
                    "x": 13.306442260742188,
                    "y": 2.1039927005767822,
                    "z": 0.13105298578739166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.945707321166992,
                "transform": {
                    "location": {
                        "x": 3525.302001953125,
                        "y": 4274.783203125,
                        "z": 367.49798583984375
                    },
                    "rotation": {
                        "roll": 0.002047062385827303,
                        "pitch": -0.026945095509290695,
                        "yaw": -80.68282318115234
                    }
                },
                "velocity": {
                    "x": 1.2765450477600098,
                    "y": -7.842423439025879,
                    "z": -0.03302766755223274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6596298217773438,
                "transform": {
                    "location": {
                        "x": 3527.896240234375,
                        "y": 4258.81494140625,
                        "z": 367.40869140625
                    },
                    "rotation": {
                        "roll": -0.0007629430037923157,
                        "pitch": -0.15789347887039185,
                        "yaw": -80.77425384521484
                    }
                },
                "velocity": {
                    "x": 0.5862221121788025,
                    "y": -3.612349271774292,
                    "z": -0.01288590393960476
                },
                "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": -0.014216950163245201,
        "expert_target_speed": 4.251279207481443,
        "target_point": [
            49.15256830536261,
            15.38010933484722
        ],
        "target_point_next": [
            51.05214240820148,
            16.005608889047895
        ]
    },
    "325": {
        "acceleration": [
            2.334780693054199,
            0.20926623046398163,
            0.008451268076896667
        ],
        "angular_velocity": [
            -0.12866619229316711,
            -0.6435755491256714,
            13.124256134033203
        ],
        "forward_vector": [
            0.9954686164855957,
            -0.0945102795958519,
            0.010492131114006042
        ],
        "right_vector": [
            0.09445933252573013,
            0.9955148696899414,
            0.0052503738552331924
        ],
        "location": [
            3537.591796875,
            4241.29345703125,
            367.4079284667969
        ],
        "rotation": [
            -0.30084219574928284,
            0.6011658906936646,
            -5.423433780670166
        ],
        "velocity": [
            3.55902099609375,
            0.005337894894182682,
            0.030039099976420403
        ],
        "speed": 3.5590249990352762,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 39.084407806396484,
        "front_vehicle_info": {
            "id": 4007,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3576.2861328125,
                4246.78662109375,
                367.8135070800781
            ],
            "velocity": [
                13.306586265563965,
                2.103590250015259,
                0.13062608242034912
            ],
            "speed_kmh": 48.500884685799,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.903096199035645,
                "transform": {
                    "location": {
                        "x": 3480.672119140625,
                        "y": 4231.6640625,
                        "z": 366.8560791015625
                    },
                    "rotation": {
                        "roll": 0.0010339007712900639,
                        "pitch": 0.7022390365600586,
                        "yaw": 8.990317344665527
                    }
                },
                "velocity": {
                    "x": 10.76834487915039,
                    "y": 1.7038331031799316,
                    "z": 0.13116353750228882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.872616767883301,
                "transform": {
                    "location": {
                        "x": 3566.238037109375,
                        "y": 4242.07861328125,
                        "z": 367.67718505859375
                    },
                    "rotation": {
                        "roll": -0.0030822777189314365,
                        "pitch": -0.297939658164978,
                        "yaw": -170.75364685058594
                    }
                },
                "velocity": {
                    "x": -3.8224503993988037,
                    "y": -0.6199820041656494,
                    "z": -0.04068964719772339
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4019,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1650129556655884,
                "transform": {
                    "location": {
                        "x": 3533.716796875,
                        "y": 4203.115234375,
                        "z": 367.2793273925781
                    },
                    "rotation": {
                        "roll": 0.0011983589502051473,
                        "pitch": 0.07102030515670776,
                        "yaw": 99.52074432373047
                    }
                },
                "velocity": {
                    "x": -0.18834911286830902,
                    "y": 1.149686336517334,
                    "z": 0.0010173129849135876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007145239505916834,
                "transform": {
                    "location": {
                        "x": 3553.593017578125,
                        "y": 4240.0634765625,
                        "z": 367.55267333984375
                    },
                    "rotation": {
                        "roll": 0.0027392141055315733,
                        "pitch": -0.589902937412262,
                        "yaw": -171.2957305908203
                    }
                },
                "velocity": {
                    "x": 0.0006231610896065831,
                    "y": 4.717265983344987e-05,
                    "z": -0.00034639507066458464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4017,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013489390257745981,
                "transform": {
                    "location": {
                        "x": 3531.71484375,
                        "y": 4215.40185546875,
                        "z": 367.33319091796875
                    },
                    "rotation": {
                        "roll": 1.8976485307575786e-06,
                        "pitch": 0.10643482953310013,
                        "yaw": 99.23805236816406
                    }
                },
                "velocity": {
                    "x": 2.024460172833642e-06,
                    "y": -1.2379307008814067e-05,
                    "z": 0.0013488807016983628
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9136970043182373,
                "transform": {
                    "location": {
                        "x": 3510.70556640625,
                        "y": 4236.41064453125,
                        "z": 367.1790466308594
                    },
                    "rotation": {
                        "roll": -6.103674240875989e-05,
                        "pitch": 0.45634540915489197,
                        "yaw": 9.010420799255371
                    }
                },
                "velocity": {
                    "x": 2.877575635910034,
                    "y": 0.45670053362846375,
                    "z": 0.024789685383439064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4014,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016368804790545255,
                "transform": {
                    "location": {
                        "x": 3530.09375,
                        "y": 4225.3544921875,
                        "z": 367.3177795410156
                    },
                    "rotation": {
                        "roll": -9.154741564998403e-05,
                        "pitch": 0.12139977514743805,
                        "yaw": 99.2056655883789
                    }
                },
                "velocity": {
                    "x": -6.065238267183304e-05,
                    "y": -3.827299951808527e-05,
                    "z": -0.00014714022108819336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2652804851531982,
                "transform": {
                    "location": {
                        "x": 3526.723388671875,
                        "y": 4238.9453125,
                        "z": 367.3121337890625
                    },
                    "rotation": {
                        "roll": -0.006347658112645149,
                        "pitch": 0.4640430212020874,
                        "yaw": 9.003870010375977
                    }
                },
                "velocity": {
                    "x": 3.2248620986938477,
                    "y": 0.5115526914596558,
                    "z": 0.025210637599229813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4007,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.472467422485352,
                "transform": {
                    "location": {
                        "x": 3576.2861328125,
                        "y": 4246.78662109375,
                        "z": 367.8135070800781
                    },
                    "rotation": {
                        "roll": -0.001403807895258069,
                        "pitch": 0.5611478090286255,
                        "yaw": 8.980514526367188
                    }
                },
                "velocity": {
                    "x": 13.306586265563965,
                    "y": 2.103590250015259,
                    "z": 0.13062608242034912
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4006,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.419313430786133,
                "transform": {
                    "location": {
                        "x": 3525.614990234375,
                        "y": 4272.86279296875,
                        "z": 367.49163818359375
                    },
                    "rotation": {
                        "roll": 0.0020552745554596186,
                        "pitch": -0.21704290807247162,
                        "yaw": -80.74981689453125
                    }
                },
                "velocity": {
                    "x": 1.1906248331069946,
                    "y": -7.323092460632324,
                    "z": -0.030736617743968964
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4002,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2250423431396484,
                "transform": {
                    "location": {
                        "x": 3528.031494140625,
                        "y": 4257.98046875,
                        "z": 367.4057312011719
                    },
                    "rotation": {
                        "roll": -0.00024414004292339087,
                        "pitch": -0.1473066806793213,
                        "yaw": -80.7800064086914
                    }
                },
                "velocity": {
                    "x": 0.5170325636863708,
                    "y": -3.1833107471466064,
                    "z": -0.010370435193181038
                },
                "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": -0.00995396077632904,
        "expert_target_speed": 4.708754379296084,
        "target_point": [
            49.24181233259943,
            12.015029618019657
        ],
        "target_point_next": [
            51.17877520509528,
            12.512831079502032
        ]
    },
    "330": {
        "acceleration": [
            3.5263919830322266,
            0.3379804193973541,
            0.017702654004096985
        ],
        "angular_velocity": [
            0.1264663189649582,
            -0.6144317388534546,
            9.854458808898926
        ],
        "forward_vector": [
            0.9988153576850891,
            -0.04678751900792122,
            0.013370472006499767
        ],
        "right_vector": [
            0.04673128202557564,
            0.9988973736763,
            0.004488074686378241
        ],
        "location": [
            3538.5830078125,
            4241.28662109375,
            367.41607666015625
        ],
        "rotation": [
            -0.2571716010570526,
            0.766094446182251,
            -2.681946277618408
        ],
        "velocity": [
            4.37394380569458,
            0.04351414740085602,
            0.03779705986380577
        ],
        "speed": 4.37416025042499,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 95.9049072265625,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 3590.192626953125,
                        "y": 4245.9501953125,
                        "z": 368.2970275878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5497413873672485,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4022,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3454.174560546875,
                        "y": 4227.47216796875,
                        "z": 366.5853576660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.965807914733887,
                "transform": {
                    "location": {
                        "x": 3483.4482421875,
                        "y": 4232.103515625,
                        "z": 366.8893737792969
                    },
                    "rotation": {
                        "roll": -6.103949999669567e-05,
                        "pitch": 0.7107972502708435,
                        "yaw": 8.986138343811035
                    }
                },
                "velocity": {
                    "x": 11.818045616149902,
                    "y": 1.8694584369659424,
                    "z": 0.13956744968891144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4225854277610779,
                "transform": {
                    "location": {
                        "x": 3565.880615234375,
                        "y": 4242.02099609375,
                        "z": 367.6725158691406
                    },
                    "rotation": {
                        "roll": -0.0038146970327943563,
                        "pitch": -0.16464170813560486,
                        "yaw": -170.7075958251953
                    }
                },
                "velocity": {
                    "x": -0.417049765586853,
                    "y": -0.06810136884450912,
                    "z": -0.003185710869729519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020641006994992495,
                "transform": {
                    "location": {
                        "x": 3553.5927734375,
                        "y": 4240.0634765625,
                        "z": 367.552734375
                    },
                    "rotation": {
                        "roll": 0.002100448589771986,
                        "pitch": -0.5557519793510437,
                        "yaw": -171.2957305908203
                    }
                },
                "velocity": {
                    "x": 0.000181501658516936,
                    "y": -9.426216274732724e-05,
                    "z": 2.7873082217411138e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7055652141571045,
                "transform": {
                    "location": {
                        "x": 3511.523681640625,
                        "y": 4236.54052734375,
                        "z": 367.1864013671875
                    },
                    "rotation": {
                        "roll": 0.0011296215234324336,
                        "pitch": 0.5858867764472961,
                        "yaw": 9.007762908935547
                    }
                },
                "velocity": {
                    "x": 3.6596784591674805,
                    "y": 0.5803906321525574,
                    "z": 0.03337342292070389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3543.686767578125,
                        "y": 4238.4921875,
                        "z": 367.45819091796875
                    },
                    "rotation": {
                        "roll": 0.000595553545281291,
                        "pitch": -0.6041507124900818,
                        "yaw": -171.01522827148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.746922254562378,
                "transform": {
                    "location": {
                        "x": 3527.57958984375,
                        "y": 4239.0810546875,
                        "z": 367.3192138671875
                    },
                    "rotation": {
                        "roll": 0.017574546858668327,
                        "pitch": 0.4702175259590149,
                        "yaw": 9.00670337677002
                    }
                },
                "velocity": {
                    "x": 3.700507640838623,
                    "y": 0.5871803760528564,
                    "z": 0.029809245839715004
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05659705772995949,
        "expert_target_speed": 10.0,
        "target_point": [
            48.769685785185146,
            9.606503828329208
        ],
        "target_point_next": [
            50.728241520358516,
            10.011091144863993
        ]
    },
    "335": {
        "acceleration": [
            3.3471012115478516,
            0.09509354829788208,
            -0.006425678730010986
        ],
        "angular_velocity": [
            -0.20096556842327118,
            -0.17558690905570984,
            6.138092517852783
        ],
        "forward_vector": [
            0.999800980091095,
            -0.013074797578155994,
            0.015067840926349163
        ],
        "right_vector": [
            0.01302120741456747,
            0.9999085664749146,
            0.003649173304438591
        ],
        "location": [
            3539.791748046875,
            4241.29443359375,
            367.4263916015625
        ],
        "rotation": [
            -0.2091064453125,
            0.863356351852417,
            -0.7492371201515198
        ],
        "velocity": [
            5.245856761932373,
            0.07727514952421188,
            0.04858526214957237
        ],
        "speed": 5.2464258896362574,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 94.70906066894531,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8687469363212585,
                "transform": {
                    "location": {
                        "x": 3590.193603515625,
                        "y": 4245.9501953125,
                        "z": 367.9325256347656
                    },
                    "rotation": {
                        "roll": -9.15447817533277e-05,
                        "pitch": -0.5515445470809937,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 0.008136657997965813,
                    "y": 0.0016612517647445202,
                    "z": -0.8687072396278381
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4022,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3457.260009765625,
                        "y": 4227.9609375,
                        "z": 366.576904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7346346378326416,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.757619857788086,
                "transform": {
                    "location": {
                        "x": 3486.428466796875,
                        "y": 4232.57470703125,
                        "z": 366.9247131347656
                    },
                    "rotation": {
                        "roll": 1.7440150259062648e-05,
                        "pitch": 0.6602401733398438,
                        "yaw": 8.972806930541992
                    }
                },
                "velocity": {
                    "x": 11.612635612487793,
                    "y": 1.8358005285263062,
                    "z": 0.13476037979125977
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6056203842163086,
                "transform": {
                    "location": {
                        "x": 3565.612060546875,
                        "y": 4241.97802734375,
                        "z": 367.67333984375
                    },
                    "rotation": {
                        "roll": -0.004028317518532276,
                        "pitch": -0.5810236930847168,
                        "yaw": -170.7206573486328
                    }
                },
                "velocity": {
                    "x": -1.5853723287582397,
                    "y": -0.25374624133110046,
                    "z": -0.014979581348598003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.264145774068311e-05,
                "transform": {
                    "location": {
                        "x": 3553.5927734375,
                        "y": 4240.0634765625,
                        "z": 367.552734375
                    },
                    "rotation": {
                        "roll": 0.0015053809620440006,
                        "pitch": -0.544741690158844,
                        "yaw": -171.29574584960938
                    }
                },
                "velocity": {
                    "x": 4.550896483124234e-05,
                    "y": 3.475688208709471e-05,
                    "z": 7.282398291863501e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.972487449645996,
                "transform": {
                    "location": {
                        "x": 3512.4443359375,
                        "y": 4236.68701171875,
                        "z": 367.19451904296875
                    },
                    "rotation": {
                        "roll": -0.00027465130551718175,
                        "pitch": 0.5580195784568787,
                        "yaw": 9.011555671691895
                    }
                },
                "velocity": {
                    "x": 3.92332124710083,
                    "y": 0.6220936179161072,
                    "z": 0.03473085165023804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.04619337245821953,
                "transform": {
                    "location": {
                        "x": 3543.68115234375,
                        "y": 4238.4912109375,
                        "z": 367.457763671875
                    },
                    "rotation": {
                        "roll": 0.0008937572129070759,
                        "pitch": -0.5399196147918701,
                        "yaw": -171.0211181640625
                    }
                },
                "velocity": {
                    "x": -0.04556523635983467,
                    "y": -0.007534264586865902,
                    "z": -0.0009337234077975154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.448968887329102,
                "transform": {
                    "location": {
                        "x": 3528.59326171875,
                        "y": 4239.24169921875,
                        "z": 367.3273620605469
                    },
                    "rotation": {
                        "roll": 0.02983258292078972,
                        "pitch": 0.4682367742061615,
                        "yaw": 9.00437068939209
                    }
                },
                "velocity": {
                    "x": 4.3941826820373535,
                    "y": 0.6951630115509033,
                    "z": 0.035074155777692795
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15668925642967224,
        "expert_target_speed": 10.0,
        "target_point": [
            47.85739398091116,
            7.932625652292543
        ],
        "target_point_next": [
            49.82848056339987,
            8.270928990754241
        ]
    },
    "340": {
        "acceleration": [
            0.4276752471923828,
            0.437389612197876,
            0.010323524475097656
        ],
        "angular_velocity": [
            0.18262723088264465,
            0.49828633666038513,
            4.115424156188965
        ],
        "forward_vector": [
            0.9999096393585205,
            0.007448449730873108,
            0.011195424944162369
        ],
        "right_vector": [
            -0.007483441848307848,
            0.9999672770500183,
            0.0030869373586028814
        ],
        "location": [
            3541.075439453125,
            4241.3134765625,
            367.4385986328125
        ],
        "rotation": [
            -0.1768798530101776,
            0.6414639949798584,
            0.42679542303085327
        ],
        "velocity": [
            5.1294050216674805,
            0.13086636364459991,
            0.04546209052205086
        ],
        "speed": 5.131074144995483,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 93.437744140625,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1305159628391266,
                "transform": {
                    "location": {
                        "x": 3590.193603515625,
                        "y": 4245.9501953125,
                        "z": 367.92181396484375
                    },
                    "rotation": {
                        "roll": -0.0003662158560473472,
                        "pitch": -0.5522139072418213,
                        "yaw": -171.01161193847656
                    }
                },
                "velocity": {
                    "x": -0.0012876003747805953,
                    "y": -1.73847747646505e-05,
                    "z": 0.130509614944458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4022,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3460.40771484375,
                        "y": 4228.45849609375,
                        "z": 366.6051940917969
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.771906852722168,
                "transform": {
                    "location": {
                        "x": 3489.211181640625,
                        "y": 4233.01416015625,
                        "z": 366.956787109375
                    },
                    "rotation": {
                        "roll": 0.00041552423499524593,
                        "pitch": 0.6070057153701782,
                        "yaw": 8.987335205078125
                    }
                },
                "velocity": {
                    "x": 10.639127731323242,
                    "y": 1.6819103956222534,
                    "z": 0.11879098415374756
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2612104415893555,
                "transform": {
                    "location": {
                        "x": 3565.1123046875,
                        "y": 4241.89794921875,
                        "z": 367.6688537597656
                    },
                    "rotation": {
                        "roll": -0.0025634784251451492,
                        "pitch": -0.6260960698127747,
                        "yaw": -170.755859375
                    }
                },
                "velocity": {
                    "x": -2.2326579093933105,
                    "y": -0.35755792260169983,
                    "z": -0.02152828685939312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00033200785401277244,
                "transform": {
                    "location": {
                        "x": 3553.5927734375,
                        "y": 4240.0634765625,
                        "z": 367.552734375
                    },
                    "rotation": {
                        "roll": 0.0015053809620440006,
                        "pitch": -0.544741690158844,
                        "yaw": -171.29574584960938
                    }
                },
                "velocity": {
                    "x": 3.0364095437107608e-05,
                    "y": 0.00012514762056525797,
                    "z": -0.00030601522303186357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.003360748291016,
                "transform": {
                    "location": {
                        "x": 3513.575439453125,
                        "y": 4236.86669921875,
                        "z": 367.2044982910156
                    },
                    "rotation": {
                        "roll": 0.0008489901665598154,
                        "pitch": 0.6365189552307129,
                        "yaw": 9.01408863067627
                    }
                },
                "velocity": {
                    "x": 4.941408634185791,
                    "y": 0.7838065028190613,
                    "z": 0.04177204146981239
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8378335237503052,
                "transform": {
                    "location": {
                        "x": 3543.56689453125,
                        "y": 4238.47314453125,
                        "z": 367.4559631347656
                    },
                    "rotation": {
                        "roll": -0.0003662134113255888,
                        "pitch": -0.33401671051979065,
                        "yaw": -171.044189453125
                    }
                },
                "velocity": {
                    "x": -0.8274732232093811,
                    "y": -0.13120213150978088,
                    "z": -0.006247282028198242
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.030269145965576,
                "transform": {
                    "location": {
                        "x": 3529.78369140625,
                        "y": 4239.4306640625,
                        "z": 367.33721923828125
                    },
                    "rotation": {
                        "roll": 0.011086612939834595,
                        "pitch": 0.4798685610294342,
                        "yaw": 9.007673263549805
                    }
                },
                "velocity": {
                    "x": 4.9681243896484375,
                    "y": 0.7869895100593567,
                    "z": 0.04468817636370659
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28348761796951294,
        "expert_target_speed": 10.0,
        "target_point": [
            46.726325820009635,
            6.939242795557405
        ],
        "target_point_next": [
            48.70394059133458,
            7.237020028936213
        ]
    },
    "345": {
        "acceleration": [
            5.393962860107422,
            0.9006369113922119,
            0.04716701805591583
        ],
        "angular_velocity": [
            0.3455725610256195,
            -1.6765186786651611,
            9.295068740844727
        ],
        "forward_vector": [
            0.9994019269943237,
            0.03139917925000191,
            0.014490334317088127
        ],
        "right_vector": [
            -0.031469788402318954,
            0.9994937777519226,
            0.004670676775276661
        ],
        "location": [
            3542.4404296875,
            4241.36572265625,
            367.4498596191406
        ],
        "rotation": [
            -0.2676391303539276,
            0.8302640914916992,
            1.7995251417160034
        ],
        "velocity": [
            6.168564796447754,
            0.3342225253582001,
            0.053896427154541016
        ],
        "speed": 6.1776125116772524,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 92.0812759399414,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.181227207183838,
                "transform": {
                    "location": {
                        "x": 3590.075927734375,
                        "y": 4245.9306640625,
                        "z": 367.9386901855469
                    },
                    "rotation": {
                        "roll": -0.003173829521983862,
                        "pitch": -0.4542212188243866,
                        "yaw": -170.97128295898438
                    }
                },
                "velocity": {
                    "x": -1.1644537448883057,
                    "y": -0.19706681370735168,
                    "z": 0.022583255544304848
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4022,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3463.533447265625,
                        "y": 4228.95263671875,
                        "z": 366.6434326171875
                    },
                    "rotation": {
                        "roll": -6.670658692087272e-09,
                        "pitch": 0.7371686100959778,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.598414421081543,
                "transform": {
                    "location": {
                        "x": 3491.71435546875,
                        "y": 4233.41015625,
                        "z": 366.9847717285156
                    },
                    "rotation": {
                        "roll": -0.0006408672779798508,
                        "pitch": 0.5859209299087524,
                        "yaw": 8.982488632202148
                    }
                },
                "velocity": {
                    "x": 9.480091094970703,
                    "y": 1.4988210201263428,
                    "z": 0.10474397242069244
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6731288433074951,
                "transform": {
                    "location": {
                        "x": 3564.629638671875,
                        "y": 4241.8203125,
                        "z": 367.6632080078125
                    },
                    "rotation": {
                        "roll": -0.0027770930901169777,
                        "pitch": -0.5125988125801086,
                        "yaw": -170.78094482421875
                    }
                },
                "velocity": {
                    "x": -1.651996374130249,
                    "y": -0.26457539200782776,
                    "z": -0.016360579058527946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.627823313465342e-05,
                "transform": {
                    "location": {
                        "x": 3553.5927734375,
                        "y": 4240.0634765625,
                        "z": 367.552734375
                    },
                    "rotation": {
                        "roll": 0.0015053809620440006,
                        "pitch": -0.544741690158844,
                        "yaw": -171.29574584960938
                    }
                },
                "velocity": {
                    "x": -1.4143809494271409e-05,
                    "y": 2.8195110644446686e-05,
                    "z": 5.8290585002396256e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.6917901039123535,
                "transform": {
                    "location": {
                        "x": 3514.7744140625,
                        "y": 4237.056640625,
                        "z": 367.2145080566406
                    },
                    "rotation": {
                        "roll": 0.0005053223576396704,
                        "pitch": 0.48984748125076294,
                        "yaw": 9.007912635803223
                    }
                },
                "velocity": {
                    "x": 4.633744716644287,
                    "y": 0.7346042394638062,
                    "z": 0.04075149446725845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6899511814117432,
                "transform": {
                    "location": {
                        "x": 3543.2509765625,
                        "y": 4238.42333984375,
                        "z": 367.45269775390625
                    },
                    "rotation": {
                        "roll": 0.002466068137437105,
                        "pitch": -0.1992434412240982,
                        "yaw": -171.07540893554688
                    }
                },
                "velocity": {
                    "x": -1.6693748235702515,
                    "y": -0.2625214755535126,
                    "z": -0.014322061091661453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.951610088348389,
                "transform": {
                    "location": {
                        "x": 3531.015625,
                        "y": 4239.62548828125,
                        "z": 367.3475036621094
                    },
                    "rotation": {
                        "roll": 0.0007835080032236874,
                        "pitch": 0.47831130027770996,
                        "yaw": 9.02099609375
                    }
                },
                "velocity": {
                    "x": 4.890232563018799,
                    "y": 0.7762801051139832,
                    "z": 0.03817373141646385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36752164363861084,
        "expert_target_speed": 10.0,
        "target_point": [
            45.51319708127812,
            5.808500879268976
        ],
        "target_point_next": [
            47.49737795385053,
            6.058816139289509
        ]
    },
    "350": {
        "acceleration": [
            1.9429206848144531,
            0.9656953811645508,
            0.0349310040473938
        ],
        "angular_velocity": [
            0.15409766137599945,
            0.3161708414554596,
            4.340255260467529
        ],
        "forward_vector": [
            0.9980305433273315,
            0.06100631505250931,
            0.014603452757000923
        ],
        "right_vector": [
            -0.061089757829904556,
            0.998117983341217,
            0.00533744553104043
        ],
        "location": [
            3544.05078125,
            4241.470703125,
            367.46417236328125
        ],
        "rotation": [
            -0.3058471381664276,
            0.8367459177970886,
            3.4979496002197266
        ],
        "velocity": [
            6.679904460906982,
            0.5513336658477783,
            0.05950773134827614
        ],
        "speed": 6.7026183255457825,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 90.4744644165039,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.10262131690979,
                "transform": {
                    "location": {
                        "x": 3589.669189453125,
                        "y": 4245.8623046875,
                        "z": 367.9384765625
                    },
                    "rotation": {
                        "roll": -0.006134032271802425,
                        "pitch": -0.44598400592803955,
                        "yaw": -170.83799743652344
                    }
                },
                "velocity": {
                    "x": -2.07248592376709,
                    "y": -0.35439348220825195,
                    "z": -0.014966992661356926
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4022,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3466.479248046875,
                        "y": 4229.4189453125,
                        "z": 366.68170166015625
                    },
                    "rotation": {
                        "roll": 1.3341324489601902e-08,
                        "pitch": 0.7397026419639587,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.744589328765869,
                "transform": {
                    "location": {
                        "x": 3493.84326171875,
                        "y": 4233.75,
                        "z": 367.0080261230469
                    },
                    "rotation": {
                        "roll": -0.0031433121766895056,
                        "pitch": 0.5496389269828796,
                        "yaw": 8.650555610656738
                    }
                },
                "velocity": {
                    "x": 7.649516582489014,
                    "y": 1.2070653438568115,
                    "z": 0.08094169199466705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1332480907440186,
                "transform": {
                    "location": {
                        "x": 3564.180908203125,
                        "y": 4241.748046875,
                        "z": 367.6593017578125
                    },
                    "rotation": {
                        "roll": -0.002716063056141138,
                        "pitch": -0.5734831690788269,
                        "yaw": -170.79539489746094
                    }
                },
                "velocity": {
                    "x": -2.106351375579834,
                    "y": -0.33711233735084534,
                    "z": -0.019673528149724007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3276629149913788,
                "transform": {
                    "location": {
                        "x": 3553.56201171875,
                        "y": 4240.05810546875,
                        "z": 367.5524597167969
                    },
                    "rotation": {
                        "roll": 0.0026644309982657433,
                        "pitch": -0.49728554487228394,
                        "yaw": -171.2926025390625
                    }
                },
                "velocity": {
                    "x": -0.323546826839447,
                    "y": -0.05167112126946449,
                    "z": -0.0032429504208266735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.056999206542969,
                "transform": {
                    "location": {
                        "x": 3515.981201171875,
                        "y": 4237.24755859375,
                        "z": 367.225341796875
                    },
                    "rotation": {
                        "roll": 0.00114968151319772,
                        "pitch": 0.5275501012802124,
                        "yaw": 9.001235961914062
                    }
                },
                "velocity": {
                    "x": 4.994622230529785,
                    "y": 0.7906209230422974,
                    "z": 0.04367341101169586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7151246070861816,
                "transform": {
                    "location": {
                        "x": 3542.697021484375,
                        "y": 4238.3359375,
                        "z": 367.4474182128906
                    },
                    "rotation": {
                        "roll": -0.003173828125,
                        "pitch": -0.10791015625,
                        "yaw": -170.9965057373047
                    }
                },
                "velocity": {
                    "x": -2.681692361831665,
                    "y": -0.424107164144516,
                    "z": -0.023684481158852577
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.164828300476074,
                "transform": {
                    "location": {
                        "x": 3532.2685546875,
                        "y": 4239.82470703125,
                        "z": 367.35772705078125
                    },
                    "rotation": {
                        "roll": 0.004816461354494095,
                        "pitch": 0.4825596809387207,
                        "yaw": 8.996258735656738
                    }
                },
                "velocity": {
                    "x": 5.100827693939209,
                    "y": 0.8094643354415894,
                    "z": 0.042143888771533966
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.41484132409095764,
        "expert_target_speed": 10.0,
        "target_point": [
            44.05160198778751,
            4.450463406683601
        ],
        "target_point_next": [
            46.042330186804634,
            4.641860120655838
        ]
    },
    "355": {
        "acceleration": [
            1.9409465789794922,
            0.9689879417419434,
            0.0025893747806549072
        ],
        "angular_velocity": [
            0.007359301671385765,
            0.10081634670495987,
            10.038562774658203
        ],
        "forward_vector": [
            0.9954974055290222,
            0.09376940876245499,
            0.013862522318959236
        ],
        "right_vector": [
            -0.09385710954666138,
            0.9955686330795288,
            0.005816284101456404
        ],
        "location": [
            3545.785888671875,
            4241.63525390625,
            367.48004150390625
        ],
        "rotation": [
            -0.3332824110984802,
            0.7942894697189331,
            5.381014347076416
        ],
        "velocity": [
            7.177547454833984,
            0.8083763122558594,
            0.06470674276351929
        ],
        "speed": 7.222925981111131,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 88.73522186279297,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.357212543487549,
                "transform": {
                    "location": {
                        "x": 3588.999267578125,
                        "y": 4245.74951171875,
                        "z": 367.9322509765625
                    },
                    "rotation": {
                        "roll": -0.006896973121911287,
                        "pitch": -0.4232121706008911,
                        "yaw": -170.66940307617188
                    }
                },
                "velocity": {
                    "x": -3.3089816570281982,
                    "y": -0.566189706325531,
                    "z": -0.030744651332497597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4022,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3469.188720703125,
                        "y": 4229.84716796875,
                        "z": 366.71697998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7388966679573059,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.77034330368042,
                "transform": {
                    "location": {
                        "x": 3495.732421875,
                        "y": 4234.0478515625,
                        "z": 367.0278015136719
                    },
                    "rotation": {
                        "roll": -0.0024108868092298508,
                        "pitch": 0.5802450180053711,
                        "yaw": 8.632331848144531
                    }
                },
                "velocity": {
                    "x": 7.675557613372803,
                    "y": 1.2073030471801758,
                    "z": 0.08046597987413406
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8902167081832886,
                "transform": {
                    "location": {
                        "x": 3563.64990234375,
                        "y": 4241.6630859375,
                        "z": 367.6539306640625
                    },
                    "rotation": {
                        "roll": -0.0019531266298145056,
                        "pitch": -0.538061797618866,
                        "yaw": -170.81979370117188
                    }
                },
                "velocity": {
                    "x": -1.866332769393921,
                    "y": -0.2989439070224762,
                    "z": -0.0188097283244133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1758671998977661,
                "transform": {
                    "location": {
                        "x": 3553.3701171875,
                        "y": 4240.0283203125,
                        "z": 367.5506896972656
                    },
                    "rotation": {
                        "roll": 0.0009703880059532821,
                        "pitch": -0.4319479763507843,
                        "yaw": -171.24258422851562
                    }
                },
                "velocity": {
                    "x": -1.1615698337554932,
                    "y": -0.1824929267168045,
                    "z": -0.010749082081019878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.990450382232666,
                "transform": {
                    "location": {
                        "x": 3517.2109375,
                        "y": 4237.4423828125,
                        "z": 367.23565673828125
                    },
                    "rotation": {
                        "roll": 0.00039518525591120124,
                        "pitch": 0.49628835916519165,
                        "yaw": 9.028791427612305
                    }
                },
                "velocity": {
                    "x": 4.928816795349121,
                    "y": 0.781006395816803,
                    "z": 0.03727889806032181
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.038110733032227,
                "transform": {
                    "location": {
                        "x": 3541.86328125,
                        "y": 4238.2041015625,
                        "z": 367.4395751953125
                    },
                    "rotation": {
                        "roll": 0.0003573739668354392,
                        "pitch": 0.0014616603730246425,
                        "yaw": -170.99671936035156
                    }
                },
                "velocity": {
                    "x": -3.9883294105529785,
                    "y": -0.6310988664627075,
                    "z": -0.035813216120004654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.893122673034668,
                "transform": {
                    "location": {
                        "x": 3533.64306640625,
                        "y": 4240.0419921875,
                        "z": 367.3699951171875
                    },
                    "rotation": {
                        "roll": -0.01428222842514515,
                        "pitch": 0.51036536693573,
                        "yaw": 9.029646873474121
                    }
                },
                "velocity": {
                    "x": 5.820278644561768,
                    "y": 0.9215878248214722,
                    "z": 0.06265062093734741
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4117681086063385,
        "expert_target_speed": 10.0,
        "target_point": [
            42.43116168413978,
            2.9994262860850305
        ],
        "target_point_next": [
            44.427104080681744,
            3.125304855220885
        ]
    },
    "360": {
        "acceleration": [
            1.0927391052246094,
            0.610114336013794,
            -0.006524324417114258
        ],
        "angular_velocity": [
            -0.30664074420928955,
            0.2623122036457062,
            2.139586925506592
        ],
        "forward_vector": [
            0.9927509427070618,
            0.11948288977146149,
            0.013016690500080585
        ],
        "right_vector": [
            -0.11955351382493973,
            0.9928162097930908,
            0.00478740781545639
        ],
        "location": [
            3547.63232421875,
            4241.857421875,
            367.4971923828125
        ],
        "rotation": [
            -0.2743225395679474,
            0.7458224892616272,
            6.8628435134887695
        ],
        "velocity": [
            7.545902729034424,
            0.9946739673614502,
            0.06849878281354904
        ],
        "speed": 7.611177589400718,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 86.87696838378906,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.727884292602539,
                "transform": {
                    "location": {
                        "x": 3587.990966796875,
                        "y": 4245.578125,
                        "z": 367.92236328125
                    },
                    "rotation": {
                        "roll": -0.007659907452762127,
                        "pitch": -0.40597960352897644,
                        "yaw": -170.49978637695312
                    }
                },
                "velocity": {
                    "x": -4.659701824188232,
                    "y": -0.798765242099762,
                    "z": -0.04520581662654877
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4022,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3472.134033203125,
                        "y": 4230.3134765625,
                        "z": 366.7554931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7388966679573059,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4021,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.333127975463867,
                "transform": {
                    "location": {
                        "x": 3497.742431640625,
                        "y": 4234.36181640625,
                        "z": 367.04840087890625
                    },
                    "rotation": {
                        "roll": -0.001953124301508069,
                        "pitch": 0.6093689799308777,
                        "yaw": 8.836625099182129
                    }
                },
                "velocity": {
                    "x": 8.231242179870605,
                    "y": 1.2963899374008179,
                    "z": 0.08397077023983002
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9124978184700012,
                "transform": {
                    "location": {
                        "x": 3563.458984375,
                        "y": 4241.6318359375,
                        "z": 367.6514892578125
                    },
                    "rotation": {
                        "roll": 2.5270574042224325e-05,
                        "pitch": -0.47729358077049255,
                        "yaw": -170.95225524902344
                    }
                },
                "velocity": {
                    "x": -0.9012240171432495,
                    "y": -0.14273513853549957,
                    "z": -0.00861299503594637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.249373435974121,
                "transform": {
                    "location": {
                        "x": 3552.9365234375,
                        "y": 4239.9599609375,
                        "z": 367.5467529296875
                    },
                    "rotation": {
                        "roll": -0.0001831085974117741,
                        "pitch": -0.38674578070640564,
                        "yaw": -171.1572723388672
                    }
                },
                "velocity": {
                    "x": -2.22184419631958,
                    "y": -0.35021525621414185,
                    "z": -0.02094496227800846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4016,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.642794609069824,
                "transform": {
                    "location": {
                        "x": 3518.392822265625,
                        "y": 4237.6298828125,
                        "z": 367.2453308105469
                    },
                    "rotation": {
                        "roll": 0.0011615140829235315,
                        "pitch": 0.44607964158058167,
                        "yaw": 9.018171310424805
                    }
                },
                "velocity": {
                    "x": 4.585216999053955,
                    "y": 0.727780282497406,
                    "z": 0.04075709357857704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.908875942230225,
                "transform": {
                    "location": {
                        "x": 3540.7177734375,
                        "y": 4238.02294921875,
                        "z": 367.4293518066406
                    },
                    "rotation": {
                        "roll": -0.0001831053668865934,
                        "pitch": -0.022245924919843674,
                        "yaw": -170.9989471435547
                    }
                },
                "velocity": {
                    "x": -4.848241329193115,
                    "y": -0.76790452003479,
                    "z": -0.04404347389936447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.874495506286621,
                "transform": {
                    "location": {
                        "x": 3535.202392578125,
                        "y": 4240.2890625,
                        "z": 367.38397216796875
                    },
                    "rotation": {
                        "roll": -0.015228278003633022,
                        "pitch": 0.5766728520393372,
                        "yaw": 9.060994148254395
                    }
                },
                "velocity": {
                    "x": 6.789421081542969,
                    "y": 1.0764800310134888,
                    "z": 0.06036123260855675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39691656827926636,
        "expert_target_speed": 10.0,
        "target_point": [
            40.634783209753685,
            1.9012162174071303
        ],
        "target_point_next": [
            42.63331332641405,
            1.975437759313122
        ]
    },
    "365": {
        "acceleration": [
            -0.11678695678710938,
            -0.053250789642333984,
            -0.008269846439361572
        ],
        "angular_velocity": [
            -0.5154885053634644,
            0.3892137110233307,
            3.7872650623321533
        ],
        "forward_vector": [
            0.991183876991272,
            0.13202428817749023,
            0.011139282025396824
        ],
        "right_vector": [
            -0.132059246301651,
            0.9912387132644653,
            0.002460605464875698
        ],
        "location": [
            3549.5322265625,
            4242.10888671875,
            367.5150451660156
        ],
        "rotation": [
            -0.1409912109375,
            0.638247013092041,
            7.587057590484619
        ],
        "velocity": [
            7.607865810394287,
            1.025738000869751,
            0.06829370558261871
        ],
        "speed": 7.676702458438427,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 84.96128845214844,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.300052165985107,
                "transform": {
                    "location": {
                        "x": 3586.710205078125,
                        "y": 4245.3623046875,
                        "z": 367.9107971191406
                    },
                    "rotation": {
                        "roll": 0.0002488666505087167,
                        "pitch": -0.468537300825119,
                        "yaw": -170.35487365722656
                    }
                },
                "velocity": {
                    "x": -5.228165626525879,
                    "y": -0.8683761954307556,
                    "z": -0.05255160108208656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8279955387115479,
                "transform": {
                    "location": {
                        "x": 3563.1103515625,
                        "y": 4241.576171875,
                        "z": 367.6493225097656
                    },
                    "rotation": {
                        "roll": -0.0009460433502681553,
                        "pitch": -0.6211578845977783,
                        "yaw": -170.931396484375
                    }
                },
                "velocity": {
                    "x": -1.8049967288970947,
                    "y": -0.2885672450065613,
                    "z": -0.016833486035466194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.47592830657959,
                "transform": {
                    "location": {
                        "x": 3552.23681640625,
                        "y": 4239.84912109375,
                        "z": 367.54022216796875
                    },
                    "rotation": {
                        "roll": -0.0018615733133628964,
                        "pitch": -0.35085996985435486,
                        "yaw": -171.07911682128906
                    }
                },
                "velocity": {
                    "x": -3.43320894241333,
                    "y": -0.5423286557197571,
                    "z": -0.03213066980242729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.223055362701416,
                "transform": {
                    "location": {
                        "x": 3539.614990234375,
                        "y": 4237.84814453125,
                        "z": 367.4211120605469
                    },
                    "rotation": {
                        "roll": 0.0014101307606324553,
                        "pitch": -0.5145864486694336,
                        "yaw": -171.00286865234375
                    }
                },
                "velocity": {
                    "x": -4.1710920333862305,
                    "y": -0.6593990921974182,
                    "z": -0.03717148303985596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42811375856399536,
        "expert_target_speed": 10.0,
        "target_point": [
            38.73909675049054,
            1.3890444924903669
        ],
        "target_point_next": [
            40.73840534654038,
            1.437999596846594
        ]
    },
    "370": {
        "acceleration": [
            -0.2185821533203125,
            -0.0069522857666015625,
            0.006134063005447388
        ],
        "angular_velocity": [
            -0.19742119312286377,
            0.14149905741214752,
            -2.6453189849853516
        ],
        "forward_vector": [
            0.9910480976104736,
            0.13314102590084076,
            0.009858925826847553
        ],
        "right_vector": [
            -0.13315847516059875,
            0.9910941123962402,
            0.0011323204962536693
        ],
        "location": [
            3551.428466796875,
            4242.36376953125,
            367.5328674316406
        ],
        "rotation": [
            -0.0648803561925888,
            0.5648839473724365,
            7.651512145996094
        ],
        "velocity": [
            7.564968585968018,
            1.0225831270217896,
            0.07046722620725632
        ],
        "speed": 7.6337687912559025,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 83.04869842529297,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.917660236358643,
                "transform": {
                    "location": {
                        "x": 3585.305908203125,
                        "y": 4245.12890625,
                        "z": 367.8970947265625
                    },
                    "rotation": {
                        "roll": -0.0016784707549959421,
                        "pitch": -0.4919990003108978,
                        "yaw": -170.51025390625
                    }
                },
                "velocity": {
                    "x": -5.838284969329834,
                    "y": -0.9643299579620361,
                    "z": -0.05655737221240997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.972902774810791,
                "transform": {
                    "location": {
                        "x": 3562.596435546875,
                        "y": 4241.494140625,
                        "z": 367.64404296875
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": -0.5764474272727966,
                        "yaw": -170.93087768554688
                    }
                },
                "velocity": {
                    "x": -1.9479774236679077,
                    "y": -0.3120081424713135,
                    "z": -0.019497837871313095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.945834159851074,
                "transform": {
                    "location": {
                        "x": 3551.18408203125,
                        "y": 4239.6826171875,
                        "z": 367.5303955078125
                    },
                    "rotation": {
                        "roll": -0.00024413935898337513,
                        "pitch": -0.3060607612133026,
                        "yaw": -171.0354461669922
                    }
                },
                "velocity": {
                    "x": -4.884822845458984,
                    "y": -0.7731306552886963,
                    "z": -0.04527013748884201
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.214911460876465,
                "transform": {
                    "location": {
                        "x": 3538.55126953125,
                        "y": 4237.6796875,
                        "z": 367.4117126464844
                    },
                    "rotation": {
                        "roll": -0.0014953688951209188,
                        "pitch": -0.5321605205535889,
                        "yaw": -171.0088348388672
                    }
                },
                "velocity": {
                    "x": -4.163151264190674,
                    "y": -0.6574968695640564,
                    "z": -0.03670147806406021
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.47011256217956543,
        "expert_target_speed": 10.0,
        "target_point": [
            36.82734115815578,
            1.345333491640674
        ],
        "target_point_next": [
            38.826703556906814,
            1.392039625518997
        ]
    },
    "375": {
        "acceleration": [
            -0.7059574127197266,
            0.2698945999145508,
            0.0021927058696746826
        ],
        "angular_velocity": [
            0.09126076847314835,
            0.19543631374835968,
            4.726538181304932
        ],
        "forward_vector": [
            0.990427553653717,
            0.1377304643392563,
            0.009141793474555016
        ],
        "right_vector": [
            -0.13774915039539337,
            0.9904659986495972,
            0.0014455029740929604
        ],
        "location": [
            3553.30419921875,
            4242.62255859375,
            367.5506286621094
        ],
        "rotation": [
            -0.08282470703125,
            0.5237935185432434,
            7.916872501373291
        ],
        "velocity": [
            7.429241180419922,
            1.0647295713424683,
            0.07086829841136932
        ],
        "speed": 7.505149803763967,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 81.15575408935547,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 3537.572509765625,
                        "y": 4240.6640625,
                        "z": 367.7580261230469
                    },
                    "rotation": {
                        "roll": 6.670362484584302e-09,
                        "pitch": 0.5017661452293396,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.357894897460938,
                "transform": {
                    "location": {
                        "x": 3583.5029296875,
                        "y": 4244.8310546875,
                        "z": 367.8780822753906
                    },
                    "rotation": {
                        "roll": -0.0030822802800685167,
                        "pitch": -0.3501906096935272,
                        "yaw": -170.60328674316406
                    }
                },
                "velocity": {
                    "x": -8.24625301361084,
                    "y": -1.3590872287750244,
                    "z": -0.08130469918251038
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9251874685287476,
                "transform": {
                    "location": {
                        "x": 3562.146728515625,
                        "y": 4241.421875,
                        "z": 367.6392517089844
                    },
                    "rotation": {
                        "roll": -0.0011291498085483909,
                        "pitch": -0.5438811182975769,
                        "yaw": -170.9298858642578
                    }
                },
                "velocity": {
                    "x": -1.9012595415115356,
                    "y": -0.3020522892475128,
                    "z": -0.01798931136727333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.360056400299072,
                "transform": {
                    "location": {
                        "x": 3549.9755859375,
                        "y": 4239.49169921875,
                        "z": 367.5188293457031
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -0.5696104168891907,
                        "yaw": -171.0123748779297
                    }
                },
                "velocity": {
                    "x": -4.306154727935791,
                    "y": -0.6822565793991089,
                    "z": -0.04059239849448204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.106314659118652,
                "transform": {
                    "location": {
                        "x": 3537.553955078125,
                        "y": 4237.52197265625,
                        "z": 367.4028015136719
                    },
                    "rotation": {
                        "roll": -0.0014648420037701726,
                        "pitch": -0.5863922238349915,
                        "yaw": -171.0068817138672
                    }
                },
                "velocity": {
                    "x": -4.055666923522949,
                    "y": -0.6418903470039368,
                    "z": -0.03688410669565201
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4845028221607208,
        "expert_target_speed": 10.0,
        "target_point": [
            34.9396777405831,
            1.1767867543397736
        ],
        "target_point_next": [
            36.939235014827794,
            1.2142323348065407
        ]
    },
    "380": {
        "acceleration": [
            -0.5254077911376953,
            0.2684473991394043,
            0.00811353325843811
        ],
        "angular_velocity": [
            0.08328872174024582,
            0.04772194102406502,
            -0.2881942689418793
        ],
        "forward_vector": [
            0.9890075922012329,
            0.14761021733283997,
            0.008669981732964516
        ],
        "right_vector": [
            -0.14763247966766357,
            0.9890402555465698,
            0.001980250235646963
        ],
        "location": [
            3555.140625,
            4242.89599609375,
            367.5681457519531
        ],
        "rotation": [
            -0.11346432566642761,
            0.4967596232891083,
            8.48878288269043
        ],
        "velocity": [
            7.275604248046875,
            1.1327561140060425,
            0.0688687115907669
        ],
        "speed": 7.363256995923462,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 79.29923248291016,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6076765656471252,
                "transform": {
                    "location": {
                        "x": 3537.57373046875,
                        "y": 4240.6640625,
                        "z": 367.3541259765625
                    },
                    "rotation": {
                        "roll": -0.003112795762717724,
                        "pitch": 0.5112191438674927,
                        "yaw": 8.988516807556152
                    }
                },
                "velocity": {
                    "x": 0.005393680185079575,
                    "y": 0.0008401783416047692,
                    "z": -0.6076520681381226
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.168277740478516,
                "transform": {
                    "location": {
                        "x": 3581.43896484375,
                        "y": 4244.49169921875,
                        "z": 367.8592224121094
                    },
                    "rotation": {
                        "roll": 0.004094138741493225,
                        "pitch": -0.5183430314064026,
                        "yaw": -170.68466186523438
                    }
                },
                "velocity": {
                    "x": -8.0625638961792,
                    "y": -1.3074727058410645,
                    "z": -0.07958745211362839
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0025599002838135,
                "transform": {
                    "location": {
                        "x": 3561.622802734375,
                        "y": 4241.3388671875,
                        "z": 367.6343688964844
                    },
                    "rotation": {
                        "roll": -0.002044677035883069,
                        "pitch": -0.5556290149688721,
                        "yaw": -170.93653869628906
                    }
                },
                "velocity": {
                    "x": -1.977442741394043,
                    "y": -0.3155335783958435,
                    "z": -0.02012554183602333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.146590232849121,
                "transform": {
                    "location": {
                        "x": 3548.762939453125,
                        "y": 4239.2998046875,
                        "z": 367.50799560546875
                    },
                    "rotation": {
                        "roll": -0.0006103533669374883,
                        "pitch": -0.44806039333343506,
                        "yaw": -170.99624633789062
                    }
                },
                "velocity": {
                    "x": -5.082954406738281,
                    "y": -0.8055448532104492,
                    "z": -0.045436419546604156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.213348865509033,
                "transform": {
                    "location": {
                        "x": 3536.40625,
                        "y": 4237.34033203125,
                        "z": 367.39013671875
                    },
                    "rotation": {
                        "roll": 0.009646252728998661,
                        "pitch": -0.31741252541542053,
                        "yaw": -171.01133728027344
                    }
                },
                "velocity": {
                    "x": -5.148801326751709,
                    "y": -0.8159856796264648,
                    "z": -0.054929085075855255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4968002438545227,
        "expert_target_speed": 10.0,
        "target_point": [
            33.093012213370734,
            0.8286220971698839
        ],
        "target_point_next": [
            35.09284363932187,
            0.8461072983299509
        ]
    },
    "385": {
        "acceleration": [
            -0.38558006286621094,
            0.2785944938659668,
            -0.00303611159324646
        ],
        "angular_velocity": [
            -0.04689650237560272,
            -0.05185674875974655,
            5.554806709289551
        ],
        "forward_vector": [
            0.9871701002120972,
            0.15943346917629242,
            0.008730776607990265
        ],
        "right_vector": [
            -0.15945689380168915,
            0.9872027635574341,
            0.002049489179626107
        ],
        "location": [
            3556.94482421875,
            4243.185546875,
            367.5852355957031
        ],
        "rotation": [
            -0.1174316331744194,
            0.5002430081367493,
            9.17436695098877
        ],
        "velocity": [
            7.166299343109131,
            1.2009459733963013,
            0.06815202534198761
        ],
        "speed": 7.266231313828589,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 77.47188568115234,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2271791696548462,
                "transform": {
                    "location": {
                        "x": 3537.572998046875,
                        "y": 4240.6640625,
                        "z": 367.3757629394531
                    },
                    "rotation": {
                        "roll": -0.003875730326399207,
                        "pitch": 0.5124076008796692,
                        "yaw": 8.988532066345215
                    }
                },
                "velocity": {
                    "x": -0.00205939169973135,
                    "y": -0.0001885533711174503,
                    "z": 0.22716975212097168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.788947582244873,
                "transform": {
                    "location": {
                        "x": 3579.490966796875,
                        "y": 4244.17529296875,
                        "z": 367.8406066894531
                    },
                    "rotation": {
                        "roll": 0.0014523370191454887,
                        "pitch": -0.5816930532455444,
                        "yaw": -170.80581665039062
                    }
                },
                "velocity": {
                    "x": -7.68937349319458,
                    "y": -1.2391459941864014,
                    "z": -0.07588163018226624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6274776458740234,
                "transform": {
                    "location": {
                        "x": 3561.44482421875,
                        "y": 4241.31005859375,
                        "z": 367.6315612792969
                    },
                    "rotation": {
                        "roll": 0.000783766619861126,
                        "pitch": -0.4339013993740082,
                        "yaw": -171.0621337890625
                    }
                },
                "velocity": {
                    "x": -0.6200016736984253,
                    "y": -0.09637367725372314,
                    "z": -0.006182737182825804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5956110954284668,
                "transform": {
                    "location": {
                        "x": 3548.03076171875,
                        "y": 4239.18310546875,
                        "z": 367.5002746582031
                    },
                    "rotation": {
                        "roll": 0.000640367332380265,
                        "pitch": -0.998259425163269,
                        "yaw": -170.94573974609375
                    }
                },
                "velocity": {
                    "x": -0.5885003805160522,
                    "y": -0.09163390845060349,
                    "z": -0.00481039984151721
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.369259834289551,
                "transform": {
                    "location": {
                        "x": 3535.086181640625,
                        "y": 4237.1318359375,
                        "z": 367.37847900390625
                    },
                    "rotation": {
                        "roll": 0.009509826079010963,
                        "pitch": -0.3889451026916504,
                        "yaw": -171.0071563720703
                    }
                },
                "velocity": {
                    "x": -5.303077697753906,
                    "y": -0.8392147421836853,
                    "z": -0.04515290632843971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43884265422821045,
        "expert_target_speed": 10.0,
        "target_point": [
            31.273272728114737,
            0.4344069250124818
        ],
        "target_point_next": [
            33.273170207979895,
            0.4279621976845558
        ]
    },
    "390": {
        "acceleration": [
            0.2344036102294922,
            0.34781932830810547,
            0.0010101497173309326
        ],
        "angular_velocity": [
            0.0356864295899868,
            -0.23794840276241302,
            -0.5051723122596741
        ],
        "forward_vector": [
            0.9854416251182556,
            0.16975708305835724,
            0.009350043721497059
        ],
        "right_vector": [
            -0.16978180408477783,
            0.9854797720909119,
            0.0019120650831609964
        ],
        "location": [
            3558.732421875,
            4243.4931640625,
            367.6024169921875
        ],
        "rotation": [
            -0.1095581129193306,
            0.5357258319854736,
            9.774127006530762
        ],
        "velocity": [
            7.155100345611572,
            1.277294635772705,
            0.06908990442752838
        ],
        "speed": 7.268214536070366,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 75.65796661376953,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4014943838119507,
                "transform": {
                    "location": {
                        "x": 3537.57958984375,
                        "y": 4240.6650390625,
                        "z": 367.4051513671875
                    },
                    "rotation": {
                        "roll": -0.0030822772532701492,
                        "pitch": 0.5145795941352844,
                        "yaw": 8.989665031433105
                    }
                },
                "velocity": {
                    "x": 0.3940785825252533,
                    "y": 0.06545811146497726,
                    "z": 0.040187470614910126
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.087858200073242,
                "transform": {
                    "location": {
                        "x": 3577.5166015625,
                        "y": 4243.857421875,
                        "z": 367.82080078125
                    },
                    "rotation": {
                        "roll": 0.0001060894355759956,
                        "pitch": -0.5411695241928101,
                        "yaw": -170.84959411621094
                    }
                },
                "velocity": {
                    "x": -7.984894275665283,
                    "y": -1.2839884757995605,
                    "z": -0.07923966646194458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5060913562774658,
                "transform": {
                    "location": {
                        "x": 3561.1748046875,
                        "y": 4241.2666015625,
                        "z": 367.63037109375
                    },
                    "rotation": {
                        "roll": 0.0013002412160858512,
                        "pitch": -0.6115409731864929,
                        "yaw": -171.05831909179688
                    }
                },
                "velocity": {
                    "x": -1.4874330759048462,
                    "y": -0.23589390516281128,
                    "z": -0.014424475841224194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4398720264434814,
                "transform": {
                    "location": {
                        "x": 3547.847412109375,
                        "y": 4239.154296875,
                        "z": 367.4991760253906
                    },
                    "rotation": {
                        "roll": -0.0005188005743548274,
                        "pitch": -0.578496515750885,
                        "yaw": -170.93450927734375
                    }
                },
                "velocity": {
                    "x": -1.421918272972107,
                    "y": -0.22631403803825378,
                    "z": -0.012727422639727592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.1757283210754395,
                "transform": {
                    "location": {
                        "x": 3533.493896484375,
                        "y": 4236.8798828125,
                        "z": 367.3622131347656
                    },
                    "rotation": {
                        "roll": 0.04898805916309357,
                        "pitch": 0.031924303621053696,
                        "yaw": -171.0079345703125
                    }
                },
                "velocity": {
                    "x": -7.086452484130859,
                    "y": -1.1255481243133545,
                    "z": -0.08004666119813919
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40384534001350403,
        "expert_target_speed": 10.0,
        "target_point": [
            29.462234014102034,
            0.10734589660579275
        ],
        "target_point_next": [
            31.461954465746864,
            0.07996744239908171
        ]
    },
    "395": {
        "acceleration": [
            0.5453205108642578,
            0.3683161735534668,
            0.016554594039916992
        ],
        "angular_velocity": [
            -0.009430436417460442,
            -0.1749182790517807,
            5.0881171226501465
        ],
        "forward_vector": [
            0.9835528135299683,
            0.18032708764076233,
            0.010299976915121078
        ],
        "right_vector": [
            -0.18035367131233215,
            0.983600378036499,
            0.0017043317202478647
        ],
        "location": [
            3560.53515625,
            4243.822265625,
            367.6197204589844
        ],
        "rotation": [
            -0.0976562425494194,
            0.5901556611061096,
            10.389369010925293
        ],
        "velocity": [
            7.267391204833984,
            1.370262861251831,
            0.06972797214984894
        ],
        "speed": 7.395444221480168,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 73.82563018798828,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.425729990005493,
                "transform": {
                    "location": {
                        "x": 3538.00048828125,
                        "y": 4240.734375,
                        "z": 367.41064453125
                    },
                    "rotation": {
                        "roll": -0.003540038364008069,
                        "pitch": 0.5499804615974426,
                        "yaw": 9.11320972442627
                    }
                },
                "velocity": {
                    "x": 2.3920810222625732,
                    "y": 0.4022264778614044,
                    "z": 0.01812073588371277
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.075491428375244,
                "transform": {
                    "location": {
                        "x": 3575.640625,
                        "y": 4243.556640625,
                        "z": 367.8031311035156
                    },
                    "rotation": {
                        "roll": 0.001359974150545895,
                        "pitch": -0.632318377494812,
                        "yaw": -170.89830017089844
                    }
                },
                "velocity": {
                    "x": -6.986782073974609,
                    "y": -1.1148067712783813,
                    "z": -0.06826519221067429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1914732456207275,
                "transform": {
                    "location": {
                        "x": 3560.693359375,
                        "y": 4241.189453125,
                        "z": 367.6258239746094
                    },
                    "rotation": {
                        "roll": 0.0003281152748968452,
                        "pitch": -0.6234732866287231,
                        "yaw": -171.1382293701172
                    }
                },
                "velocity": {
                    "x": -2.1642749309539795,
                    "y": -0.3435899019241333,
                    "z": -0.02037362940609455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.495391607284546,
                "transform": {
                    "location": {
                        "x": 3547.34814453125,
                        "y": 4239.07470703125,
                        "z": 367.4947509765625
                    },
                    "rotation": {
                        "roll": -0.0004272477817721665,
                        "pitch": -0.4077417850494385,
                        "yaw": -170.9412078857422
                    }
                },
                "velocity": {
                    "x": -2.4643449783325195,
                    "y": -0.39175325632095337,
                    "z": -0.02263651229441166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.135032653808594,
                "transform": {
                    "location": {
                        "x": 3531.560546875,
                        "y": 4236.5732421875,
                        "z": 367.3445739746094
                    },
                    "rotation": {
                        "roll": 0.13087764382362366,
                        "pitch": -0.0035107170697301626,
                        "yaw": -171.004150390625
                    }
                },
                "velocity": {
                    "x": -8.0350341796875,
                    "y": -1.2702107429504395,
                    "z": -0.059545304626226425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34702539443969727,
        "expert_target_speed": 10.0,
        "target_point": [
            27.629160595301418,
            -0.20762741943067553
        ],
        "target_point_next": [
            29.628471774593777,
            -0.25647691111644555
        ]
    },
    "400": {
        "acceleration": [
            0.6014823913574219,
            0.19370794296264648,
            0.007261782884597778
        ],
        "angular_velocity": [
            -0.1186944842338562,
            -0.09467148035764694,
            -1.5261164903640747
        ],
        "forward_vector": [
            0.9821814894676208,
            0.1876249462366104,
            0.01078668050467968
        ],
        "right_vector": [
            -0.18764765560626984,
            0.9822357296943665,
            0.0011237881844863296
        ],
        "location": [
            3562.37158203125,
            4244.1728515625,
            367.6375427246094
        ],
        "rotation": [
            -0.0643920823931694,
            0.6180433034896851,
            10.814847946166992
        ],
        "velocity": [
            7.413665771484375,
            1.4399255514144897,
            0.07243911921977997
        ],
        "speed": 7.5522066818179265,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 71.95657348632812,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2806355953216553,
                "transform": {
                    "location": {
                        "x": 3538.71337890625,
                        "y": 4240.85302734375,
                        "z": 367.4165954589844
                    },
                    "rotation": {
                        "roll": 0.003834232222288847,
                        "pitch": 0.5319692492485046,
                        "yaw": 9.299574851989746
                    }
                },
                "velocity": {
                    "x": 3.2348647117614746,
                    "y": 0.545407235622406,
                    "z": 0.027395419776439667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.783762216567993,
                "transform": {
                    "location": {
                        "x": 3574.188720703125,
                        "y": 4243.3271484375,
                        "z": 367.7903747558594
                    },
                    "rotation": {
                        "roll": -0.0016174260526895523,
                        "pitch": -0.8357487320899963,
                        "yaw": -170.6844482421875
                    }
                },
                "velocity": {
                    "x": -3.736705780029297,
                    "y": -0.5934969186782837,
                    "z": -0.04059257730841637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7715872526168823,
                "transform": {
                    "location": {
                        "x": 3560.22314453125,
                        "y": 4241.11474609375,
                        "z": 367.62042236328125
                    },
                    "rotation": {
                        "roll": 0.0018797209486365318,
                        "pitch": -0.5235612988471985,
                        "yaw": -171.18418884277344
                    }
                },
                "velocity": {
                    "x": -1.7494332790374756,
                    "y": -0.2787327468395233,
                    "z": -0.017670374363660812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.013447284698486,
                "transform": {
                    "location": {
                        "x": 3546.543701171875,
                        "y": 4238.947265625,
                        "z": 367.4875183105469
                    },
                    "rotation": {
                        "roll": 0.000344089261488989,
                        "pitch": -0.3132324516773224,
                        "yaw": -170.95570373535156
                    }
                },
                "velocity": {
                    "x": -3.9635462760925293,
                    "y": -0.6298580765724182,
                    "z": -0.03657262772321701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.813539505004883,
                "transform": {
                    "location": {
                        "x": 3529.33056640625,
                        "y": 4236.220703125,
                        "z": 367.3258361816406
                    },
                    "rotation": {
                        "roll": 0.11387324333190918,
                        "pitch": 0.23422765731811523,
                        "yaw": -171.02301025390625
                    }
                },
                "velocity": {
                    "x": -9.692824363708496,
                    "y": -1.5329608917236328,
                    "z": -0.06886565685272217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2588489055633545,
        "expert_target_speed": 10.0,
        "target_point": [
            25.75726610822103,
            -0.41257167170040177
        ],
        "target_point_next": [
            27.756159414389437,
            -0.47626637349341916
        ]
    },
    "405": {
        "acceleration": [
            0.2430438995361328,
            -0.0032091140747070312,
            0.005512982606887817
        ],
        "angular_velocity": [
            -0.20117323100566864,
            0.04574735090136528,
            2.7292449474334717
        ],
        "forward_vector": [
            0.9817168712615967,
            0.1900453269481659,
            0.01071694865822792
        ],
        "right_vector": [
            -0.19005781412124634,
            0.9817728996276855,
            0.00015072629321366549
        ],
        "location": [
            3564.239501953125,
            4244.5341796875,
            367.6558532714844
        ],
        "rotation": [
            -0.00863647647202015,
            0.614047646522522,
            10.956066131591797
        ],
        "velocity": [
            7.510836124420166,
            1.4509707689285278,
            0.07265312224626541
        ],
        "speed": 7.649704272727148,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 70.05472564697266,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.31549072265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.003053665161133,
                "transform": {
                    "location": {
                        "x": 3539.615234375,
                        "y": 4241.00439453125,
                        "z": 367.4245910644531
                    },
                    "rotation": {
                        "roll": 0.004178737290203571,
                        "pitch": 0.5261021256446838,
                        "yaw": 9.425027847290039
                    }
                },
                "velocity": {
                    "x": 3.947016477584839,
                    "y": 0.666522741317749,
                    "z": 0.03528480604290962
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.406672865152359,
                "transform": {
                    "location": {
                        "x": 3573.89990234375,
                        "y": 4243.28515625,
                        "z": 367.78839111328125
                    },
                    "rotation": {
                        "roll": -0.011871336959302425,
                        "pitch": -0.9451273679733276,
                        "yaw": -170.33009338378906
                    }
                },
                "velocity": {
                    "x": -0.40151548385620117,
                    "y": -0.06447471678256989,
                    "z": -0.0033377932850271463
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4505155086517334,
                "transform": {
                    "location": {
                        "x": 3559.71142578125,
                        "y": 4241.0322265625,
                        "z": 367.6160888671875
                    },
                    "rotation": {
                        "roll": 0.003137614345178008,
                        "pitch": -0.5961252450942993,
                        "yaw": -171.23719787597656
                    }
                },
                "velocity": {
                    "x": -2.419903516769409,
                    "y": -0.3854466676712036,
                    "z": -0.02289699576795101
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.403626918792725,
                "transform": {
                    "location": {
                        "x": 3545.37060546875,
                        "y": 4238.76123046875,
                        "z": 367.47705078125
                    },
                    "rotation": {
                        "roll": 0.0004920804058201611,
                        "pitch": -0.29840412735939026,
                        "yaw": -170.96986389160156
                    }
                },
                "velocity": {
                    "x": -5.336680889129639,
                    "y": -0.846628725528717,
                    "z": -0.047310974448919296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.80069637298584,
                "transform": {
                    "location": {
                        "x": 3526.774658203125,
                        "y": 4235.81640625,
                        "z": 367.307373046875
                    },
                    "rotation": {
                        "roll": -0.0257568359375,
                        "pitch": 0.11404366046190262,
                        "yaw": -171.02528381347656
                    }
                },
                "velocity": {
                    "x": -10.668985366821289,
                    "y": -1.679639220237732,
                    "z": -0.08124784380197525
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.31549072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4044291377067566,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21245980262756348,
        "expert_target_speed": 10.0,
        "target_point": [
            23.85362458262962,
            -0.47578911963606174
        ],
        "target_point_next": [
            25.852354824353196,
            -0.5444104377592813
        ]
    },
    "410": {
        "acceleration": [
            0.49162864685058594,
            -0.030415058135986328,
            0.007713288068771362
        ],
        "angular_velocity": [
            -0.11081674695014954,
            -0.07324285060167313,
            -3.3114266395568848
        ],
        "forward_vector": [
            0.9820510745048523,
            0.18831369280815125,
            0.010659730061888695
        ],
        "right_vector": [
            -0.1883201003074646,
            0.9821076393127441,
            -0.0004082663799636066
        ],
        "location": [
            3566.127685546875,
            4244.89794921875,
            367.6744384765625
        ],
        "rotation": [
            0.02339326962828636,
            0.6107691526412964,
            10.855013847351074
        ],
        "velocity": [
            7.6036906242370605,
            1.4506173133850098,
            0.07378385215997696
        ],
        "speed": 7.740826938964785,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 68.13249206542969,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.37646484375,
                4255.8173828125,
                368.3099060058594
            ],
            "velocity": [
                1.7238482541870326e-05,
                -2.3961067086020194e-07,
                -0.025046173483133316
            ],
            "speed_kmh": 0.09016624589985965,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.7367167472839355,
                "transform": {
                    "location": {
                        "x": 3540.69482421875,
                        "y": 4241.18603515625,
                        "z": 367.4342956542969
                    },
                    "rotation": {
                        "roll": 0.005169146694242954,
                        "pitch": 0.5259450078010559,
                        "yaw": 9.506817817687988
                    }
                },
                "velocity": {
                    "x": 4.67018461227417,
                    "y": 0.7900035977363586,
                    "z": 0.04186898097395897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5589039325714111,
                "transform": {
                    "location": {
                        "x": 3573.627197265625,
                        "y": 4243.24072265625,
                        "z": 367.78240966796875
                    },
                    "rotation": {
                        "roll": -0.006713864393532276,
                        "pitch": -0.5583474636077881,
                        "yaw": -170.42752075195312
                    }
                },
                "velocity": {
                    "x": -1.5392248630523682,
                    "y": -0.24644684791564941,
                    "z": -0.015248688869178295
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3725357055664062,
                "transform": {
                    "location": {
                        "x": 3558.9912109375,
                        "y": 4240.91845703125,
                        "z": 367.6094970703125
                    },
                    "rotation": {
                        "roll": 0.0010370307136327028,
                        "pitch": -0.629811704158783,
                        "yaw": -171.16574096679688
                    }
                },
                "velocity": {
                    "x": -3.3305435180664062,
                    "y": -0.5296213030815125,
                    "z": -0.031294047832489014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.153273582458496,
                "transform": {
                    "location": {
                        "x": 3544.064208984375,
                        "y": 4238.55419921875,
                        "z": 367.4648742675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48251184821128845,
                        "yaw": -170.97727966308594
                    }
                },
                "velocity": {
                    "x": -5.089410781860352,
                    "y": -0.8073491454124451,
                    "z": -0.04811745509505272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.881363868713379,
                "transform": {
                    "location": {
                        "x": 3524.080810546875,
                        "y": 4235.3916015625,
                        "z": 367.2867431640625
                    },
                    "rotation": {
                        "roll": -0.0267944298684597,
                        "pitch": -0.25594767928123474,
                        "yaw": -171.0271453857422
                    }
                },
                "velocity": {
                    "x": -10.747933387756348,
                    "y": -1.6962721347808838,
                    "z": -0.09305185079574585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.025046179071068764,
                "transform": {
                    "location": {
                        "x": 3633.37646484375,
                        "y": 4255.8173828125,
                        "z": 368.3099060058594
                    },
                    "rotation": {
                        "roll": 0.0001176171499537304,
                        "pitch": 0.4207054674625397,
                        "yaw": 8.988430976867676
                    }
                },
                "velocity": {
                    "x": 1.7238482541870326e-05,
                    "y": -2.3961067086020194e-07,
                    "z": -0.025046173483133316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15754590928554535,
        "expert_target_speed": 10.0,
        "target_point": [
            21.931521859027804,
            -0.4353878320653757
        ],
        "target_point_next": [
            23.930370019539065,
            -0.5004838818846986
        ]
    },
    "415": {
        "acceleration": [
            0.6161117553710938,
            -0.041103363037109375,
            0.00345766544342041
        ],
        "angular_velocity": [
            -0.09486844390630722,
            -0.06552454829216003,
            1.8528735637664795
        ],
        "forward_vector": [
            0.9825260043144226,
            0.18580646812915802,
            0.010888360440731049
        ],
        "right_vector": [
            -0.185808926820755,
            0.982585608959198,
            -0.0007950033759698272
        ],
        "location": [
            3568.046142578125,
            4245.26123046875,
            367.693359375
        ],
        "rotation": [
            0.045553043484687805,
            0.6238694190979004,
            10.708797454833984
        ],
        "velocity": [
            7.744324684143066,
            1.4485735893249512,
            0.07646411657333374
        ],
        "speed": 7.878637588892979,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 66.18074798583984,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.376708984375,
                4255.8173828125,
                368.3069152832031
            ],
            "velocity": [
                -6.579286855412647e-05,
                0.00014833216846454889,
                -0.0029426023829728365
            ],
            "speed_kmh": 0.010609463197433075,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2881269454956055,
                "transform": {
                    "location": {
                        "x": 3541.9482421875,
                        "y": 4241.39794921875,
                        "z": 367.44586181640625
                    },
                    "rotation": {
                        "roll": 0.005353008862584829,
                        "pitch": 0.5216761827468872,
                        "yaw": 9.562980651855469
                    }
                },
                "velocity": {
                    "x": 5.213719367980957,
                    "y": 0.8826743960380554,
                    "z": 0.04799581319093704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5372846126556396,
                "transform": {
                    "location": {
                        "x": 3573.123779296875,
                        "y": 4243.15869140625,
                        "z": 367.7767028808594
                    },
                    "rotation": {
                        "roll": -0.003143311245366931,
                        "pitch": -0.4731749892234802,
                        "yaw": -170.55764770507812
                    }
                },
                "velocity": {
                    "x": -2.50527024269104,
                    "y": -0.4010624289512634,
                    "z": -0.02414703741669655
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.501693248748779,
                "transform": {
                    "location": {
                        "x": 3558.0146484375,
                        "y": 4240.76416015625,
                        "z": 367.6002502441406
                    },
                    "rotation": {
                        "roll": 0.0019334907410666347,
                        "pitch": -0.6481917500495911,
                        "yaw": -171.0915069580078
                    }
                },
                "velocity": {
                    "x": -4.445589542388916,
                    "y": -0.7072408199310303,
                    "z": -0.04228384792804718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.99936580657959,
                "transform": {
                    "location": {
                        "x": 3542.816162109375,
                        "y": 4238.35595703125,
                        "z": 367.4532775878906
                    },
                    "rotation": {
                        "roll": 0.0001362459297524765,
                        "pitch": -0.5234041810035706,
                        "yaw": -170.95932006835938
                    }
                },
                "velocity": {
                    "x": -4.937300682067871,
                    "y": -0.7838134765625,
                    "z": -0.04857398942112923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.693766593933105,
                "transform": {
                    "location": {
                        "x": 3521.424560546875,
                        "y": 4234.97216796875,
                        "z": 367.26422119140625
                    },
                    "rotation": {
                        "roll": -0.002014156896620989,
                        "pitch": -0.47182944416999817,
                        "yaw": -171.02552795410156
                    }
                },
                "velocity": {
                    "x": -10.5623779296875,
                    "y": -1.668619990348816,
                    "z": -0.09226398169994354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0029470729641616344,
                "transform": {
                    "location": {
                        "x": 3633.376708984375,
                        "y": 4255.8173828125,
                        "z": 368.3069152832031
                    },
                    "rotation": {
                        "roll": -0.00012206635437905788,
                        "pitch": 0.4288060963153839,
                        "yaw": 8.988454818725586
                    }
                },
                "velocity": {
                    "x": -6.579286855412647e-05,
                    "y": 0.00014833216846454889,
                    "z": -0.0029426023829728365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12070023268461227,
        "expert_target_speed": 10.0,
        "target_point": [
            19.980011793991892,
            -0.37989120765193407
        ],
        "target_point_next": [
            21.979019565288432,
            -0.4398861639181515
        ]
    },
    "420": {
        "acceleration": [
            0.6731891632080078,
            -0.03376007080078125,
            -0.0049652159214019775
        ],
        "angular_velocity": [
            -0.009280145168304443,
            -0.049779750406742096,
            -3.7843804359436035
        ],
        "forward_vector": [
            0.9834486842155457,
            0.18084831535816193,
            0.011068116873502731
        ],
        "right_vector": [
            -0.1808474063873291,
            0.9835105538368225,
            -0.001091920305043459
        ],
        "location": [
            3570.0029296875,
            4245.62255859375,
            367.7127380371094
        ],
        "rotation": [
            0.06256627291440964,
            0.634169340133667,
            10.419821739196777
        ],
        "velocity": [
            7.906610488891602,
            1.437665343284607,
            0.07644336670637131
        ],
        "speed": 8.036253546419024,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 64.19129943847656,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.376708984375,
                4255.8173828125,
                368.3063049316406
            ],
            "velocity": [
                -1.369081383018056e-05,
                5.43315036338754e-05,
                -0.0018243360100314021
            ],
            "speed_kmh": 0.006570706378849538,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.869594573974609,
                "transform": {
                    "location": {
                        "x": 3543.33984375,
                        "y": 4241.63134765625,
                        "z": 367.4584045410156
                    },
                    "rotation": {
                        "roll": 0.006012808997184038,
                        "pitch": 0.527959942817688,
                        "yaw": 9.525811195373535
                    }
                },
                "velocity": {
                    "x": 5.790680885314941,
                    "y": 0.9577855467796326,
                    "z": 0.05290786549448967
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.932321310043335,
                "transform": {
                    "location": {
                        "x": 3572.32177734375,
                        "y": 4243.029296875,
                        "z": 367.7684020996094
                    },
                    "rotation": {
                        "roll": -0.0008239706512540579,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.6853790283203
                    }
                },
                "velocity": {
                    "x": -3.882862091064453,
                    "y": -0.6205569505691528,
                    "z": -0.037967611104249954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1844587326049805,
                "transform": {
                    "location": {
                        "x": 3556.779296875,
                        "y": 4240.568359375,
                        "z": 367.5885925292969
                    },
                    "rotation": {
                        "roll": 9.957043948816136e-05,
                        "pitch": -0.6164177060127258,
                        "yaw": -171.0418243408203
                    }
                },
                "velocity": {
                    "x": -5.120241165161133,
                    "y": -0.8120280504226685,
                    "z": -0.0485224723815918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.668353080749512,
                "transform": {
                    "location": {
                        "x": 3541.630615234375,
                        "y": 4238.11865234375,
                        "z": 367.4424133300781
                    },
                    "rotation": {
                        "roll": -0.1240234375,
                        "pitch": -0.5568243265151978,
                        "yaw": -169.15237426757812
                    }
                },
                "velocity": {
                    "x": -4.551025390625,
                    "y": -1.0392292737960815,
                    "z": -0.04112537205219269
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.715104103088379,
                "transform": {
                    "location": {
                        "x": 3518.7841796875,
                        "y": 4234.5546875,
                        "z": 367.2416076660156
                    },
                    "rotation": {
                        "roll": -0.0021362362895160913,
                        "pitch": -0.4788167178630829,
                        "yaw": -171.0143585205078
                    }
                },
                "velocity": {
                    "x": -10.58302116394043,
                    "y": -1.6747188568115234,
                    "z": -0.09186946600675583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0018251962028443813,
                "transform": {
                    "location": {
                        "x": 3633.376708984375,
                        "y": 4255.8173828125,
                        "z": 368.3063049316406
                    },
                    "rotation": {
                        "roll": -0.00021362287225201726,
                        "pitch": 0.4312034845352173,
                        "yaw": 8.98847484588623
                    }
                },
                "velocity": {
                    "x": -1.369081383018056e-05,
                    "y": 5.43315036338754e-05,
                    "z": -0.0018243360100314021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08477064967155457,
        "expert_target_speed": 10.0,
        "target_point": [
            17.991806442777573,
            -0.28058179610392164
        ],
        "target_point_next": [
            19.991091379415018,
            -0.330493784803759
        ]
    },
    "425": {
        "acceleration": [
            0.5935096740722656,
            -0.0626063346862793,
            0.013531744480133057
        ],
        "angular_velocity": [
            -0.08034113794565201,
            0.0005300032789818943,
            1.45327889919281
        ],
        "forward_vector": [
            0.9842603802680969,
            0.17637182772159576,
            0.01115394290536642
        ],
        "right_vector": [
            -0.17636972665786743,
            0.984323263168335,
            -0.0011807188857346773
        ],
        "location": [
            3572.0009765625,
            4245.98095703125,
            367.7322998046875
        ],
        "rotation": [
            0.06765443086624146,
            0.6390870809555054,
            10.159138679504395
        ],
        "velocity": [
            8.066174507141113,
            1.4249528646469116,
            0.07995753735303879
        ],
        "speed": 8.191072081609258,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 62.16160583496094,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.376708984375,
                4255.8173828125,
                368.30621337890625
            ],
            "velocity": [
                1.6868338207132183e-05,
                -7.06512582837604e-05,
                -0.0010569911682978272
            ],
            "speed_kmh": 0.0038141426119165478,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.9675517082214355,
                "transform": {
                    "location": {
                        "x": 3544.912353515625,
                        "y": 4241.890625,
                        "z": 367.47259521484375
                    },
                    "rotation": {
                        "roll": 0.0055854772217571735,
                        "pitch": 0.542890727519989,
                        "yaw": 9.395525932312012
                    }
                },
                "velocity": {
                    "x": 6.875659465789795,
                    "y": 1.1261590719223022,
                    "z": 0.06203897297382355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.24690580368042,
                "transform": {
                    "location": {
                        "x": 3571.18212890625,
                        "y": 4242.8466796875,
                        "z": 367.7572937011719
                    },
                    "rotation": {
                        "roll": -0.0009155261795967817,
                        "pitch": -0.41522082686424255,
                        "yaw": -170.81846618652344
                    }
                },
                "velocity": {
                    "x": -5.181628704071045,
                    "y": -0.8237240314483643,
                    "z": -0.047129418700933456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.911611080169678,
                "transform": {
                    "location": {
                        "x": 3555.4150390625,
                        "y": 4240.35205078125,
                        "z": 367.57537841796875
                    },
                    "rotation": {
                        "roll": 0.0005275442381389439,
                        "pitch": -0.5993354320526123,
                        "yaw": -171.05162048339844
                    }
                },
                "velocity": {
                    "x": -5.838479042053223,
                    "y": -0.9253088235855103,
                    "z": -0.05578841269016266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.533616065979004,
                "transform": {
                    "location": {
                        "x": 3540.50244140625,
                        "y": 4237.8486328125,
                        "z": 367.4322509765625
                    },
                    "rotation": {
                        "roll": -0.0877380520105362,
                        "pitch": -0.5410465598106384,
                        "yaw": -167.44134521484375
                    }
                },
                "velocity": {
                    "x": -4.402939796447754,
                    "y": -1.0798799991607666,
                    "z": -0.04069286212325096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.76021671295166,
                "transform": {
                    "location": {
                        "x": 3516.130859375,
                        "y": 4234.134765625,
                        "z": 367.21893310546875
                    },
                    "rotation": {
                        "roll": -0.0007629426545463502,
                        "pitch": -0.47182944416999817,
                        "yaw": -171.00572204589844
                    }
                },
                "velocity": {
                    "x": -10.627756118774414,
                    "y": -1.6807169914245605,
                    "z": -0.09082446247339249
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010594840859994292,
                "transform": {
                    "location": {
                        "x": 3633.376708984375,
                        "y": 4255.8173828125,
                        "z": 368.30621337890625
                    },
                    "rotation": {
                        "roll": 0.00018658151384443045,
                        "pitch": 0.431913822889328,
                        "yaw": 8.988493919372559
                    }
                },
                "velocity": {
                    "x": 1.6868338207132183e-05,
                    "y": -7.06512582837604e-05,
                    "z": -0.0010569911682978272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05848480388522148,
        "expert_target_speed": 10.0,
        "target_point": [
            15.96296068309148,
            -0.19907987674537697
        ],
        "target_point_next": [
            17.96245201289074,
            -0.23989515009910978
        ]
    },
    "430": {
        "acceleration": [
            0.500335693359375,
            -0.08167266845703125,
            0.008802860975265503
        ],
        "angular_velocity": [
            0.05933709070086479,
            0.042636074125766754,
            -3.754784345626831
        ],
        "forward_vector": [
            0.9852268099784851,
            0.1708974391222,
            0.011053813621401787
        ],
        "right_vector": [
            -0.17089471220970154,
            0.9852885603904724,
            -0.001198910060338676
        ],
        "location": [
            3574.03515625,
            4246.3359375,
            367.7525329589844
        ],
        "rotation": [
            0.06869669258594513,
            0.6333497762680054,
            9.840609550476074
        ],
        "velocity": [
            8.201398849487305,
            1.4059423208236694,
            0.08041868358850479
        ],
        "speed": 8.321034605014855,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 60.0967903137207,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.376708984375,
                4255.8173828125,
                368.3061218261719
            ],
            "velocity": [
                7.451697911164956e-06,
                -1.469637209083885e-05,
                -0.0009876249823719263
            ],
            "speed_kmh": 0.0035559447458861945,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.779688358306885,
                "transform": {
                    "location": {
                        "x": 3546.739013671875,
                        "y": 4242.18994140625,
                        "z": 367.4893798828125
                    },
                    "rotation": {
                        "roll": 0.003203106578439474,
                        "pitch": 0.5449944138526917,
                        "yaw": 9.298421859741211
                    }
                },
                "velocity": {
                    "x": 7.677765369415283,
                    "y": 1.2532330751419067,
                    "z": 0.06980113685131073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.516933917999268,
                "transform": {
                    "location": {
                        "x": 3569.858642578125,
                        "y": 4242.63671875,
                        "z": 367.7449951171875
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.4949359595775604,
                        "yaw": -170.8037109375
                    }
                },
                "velocity": {
                    "x": -5.448217868804932,
                    "y": -0.8663592338562012,
                    "z": -0.053877413272857666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.263221740722656,
                "transform": {
                    "location": {
                        "x": 3553.85205078125,
                        "y": 4240.1044921875,
                        "z": 367.5611267089844
                    },
                    "rotation": {
                        "roll": 0.0005938973627053201,
                        "pitch": -0.6743172407150269,
                        "yaw": -171.01803588867188
                    }
                },
                "velocity": {
                    "x": -7.17324161529541,
                    "y": -1.1377099752426147,
                    "z": -0.06792014092206955
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.367958068847656,
                "transform": {
                    "location": {
                        "x": 3539.429931640625,
                        "y": 4237.5791015625,
                        "z": 367.4224548339844
                    },
                    "rotation": {
                        "roll": -0.06777951866388321,
                        "pitch": -0.5372899770736694,
                        "yaw": -166.46188354492188
                    }
                },
                "velocity": {
                    "x": -4.232746124267578,
                    "y": -1.0776959657669067,
                    "z": -0.03859381005167961
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.733088493347168,
                "transform": {
                    "location": {
                        "x": 3513.4775390625,
                        "y": 4233.71484375,
                        "z": 367.1960754394531
                    },
                    "rotation": {
                        "roll": 0.00033831398468464613,
                        "pitch": -0.4995121955871582,
                        "yaw": -171.0082550048828
                    }
                },
                "velocity": {
                    "x": -10.60079288482666,
                    "y": -1.6775060892105103,
                    "z": -0.0914219543337822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000987762352451682,
                "transform": {
                    "location": {
                        "x": 3633.376708984375,
                        "y": 4255.8173828125,
                        "z": 368.3061218261719
                    },
                    "rotation": {
                        "roll": 0.0004249512276146561,
                        "pitch": 0.43202993273735046,
                        "yaw": 8.988520622253418
                    }
                },
                "velocity": {
                    "x": 7.451697911164956e-06,
                    "y": -1.469637209083885e-05,
                    "z": -0.0009876249823719263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3643.25927734375,
                        "y": 4257.380859375,
                        "z": 368.5064697265625
                    },
                    "rotation": {
                        "roll": -1.6675547609423802e-09,
                        "pitch": 0.33265751600265503,
                        "yaw": 8.988386154174805
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04538131505250931,
        "expert_target_speed": 10.0,
        "target_point": [
            13.898900965752432,
            -0.1124346986408149
        ],
        "target_point_next": [
            15.898588301604546,
            -0.14213357596014253
        ]
    },
    "435": {
        "acceleration": [
            0.3643989562988281,
            -0.11818170547485352,
            0.017033815383911133
        ],
        "angular_velocity": [
            -0.05876954644918442,
            0.04675140604376793,
            1.3791462182998657
        ],
        "forward_vector": [
            0.9860252737998962,
            0.1662416011095047,
            0.010855580680072308
        ],
        "right_vector": [
            -0.16623848676681519,
            0.9860848188400269,
            -0.001196105731651187
        ],
        "location": [
            3576.099853515625,
            4246.685546875,
            367.7729187011719
        ],
        "rotation": [
            0.06853586435317993,
            0.6219911575317383,
            9.569938659667969
        ],
        "velocity": [
            8.307220458984375,
            1.3799487352371216,
            0.08096357434988022
        ],
        "speed": 8.421055175335873,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 58.0026969909668,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.376708984375,
                4255.8173828125,
                368.3061218261719
            ],
            "velocity": [
                8.70794065122027e-06,
                6.987962842686102e-05,
                -0.0007856680895201862
            ],
            "speed_kmh": 0.002839743660114993,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.570557594299316,
                "transform": {
                    "location": {
                        "x": 3548.7607421875,
                        "y": 4242.5185546875,
                        "z": 367.5080871582031
                    },
                    "rotation": {
                        "roll": 0.004064150154590607,
                        "pitch": 0.5414973497390747,
                        "yaw": 9.215198516845703
                    }
                },
                "velocity": {
                    "x": 8.460936546325684,
                    "y": 1.3641424179077148,
                    "z": 0.07823499292135239
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.092411518096924,
                "transform": {
                    "location": {
                        "x": 3568.380859375,
                        "y": 4242.40087890625,
                        "z": 367.72967529296875
                    },
                    "rotation": {
                        "roll": -0.001251221401616931,
                        "pitch": -0.41497495770454407,
                        "yaw": -170.9060821533203
                    }
                },
                "velocity": {
                    "x": -7.004304885864258,
                    "y": -1.1123414039611816,
                    "z": -0.06864766776561737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.889643669128418,
                "transform": {
                    "location": {
                        "x": 3552.0654296875,
                        "y": 4239.8212890625,
                        "z": 367.5432434082031
                    },
                    "rotation": {
                        "roll": -0.0001831025438150391,
                        "pitch": -0.5398239493370056,
                        "yaw": -170.99417114257812
                    }
                },
                "velocity": {
                    "x": -6.804385185241699,
                    "y": -1.0786888599395752,
                    "z": -0.06295781582593918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.171408653259277,
                "transform": {
                    "location": {
                        "x": 3538.400146484375,
                        "y": 4237.3125,
                        "z": 367.4129943847656
                    },
                    "rotation": {
                        "roll": -0.06573486328125,
                        "pitch": -0.5403157472610474,
                        "yaw": -165.87281799316406
                    }
                },
                "velocity": {
                    "x": -4.03650426864624,
                    "y": -1.051612377166748,
                    "z": -0.03733303025364876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.740965843200684,
                "transform": {
                    "location": {
                        "x": 3510.826904296875,
                        "y": 4233.29541015625,
                        "z": 367.1727600097656
                    },
                    "rotation": {
                        "roll": 0.0008715667063370347,
                        "pitch": -0.5056183934211731,
                        "yaw": -171.0082244873047
                    }
                },
                "velocity": {
                    "x": -10.608566284179688,
                    "y": -1.678744912147522,
                    "z": -0.09214159846305847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000788817647844553,
                "transform": {
                    "location": {
                        "x": 3633.376708984375,
                        "y": 4255.8173828125,
                        "z": 368.3061218261719
                    },
                    "rotation": {
                        "roll": 0.0004249512276146561,
                        "pitch": 0.43202993273735046,
                        "yaw": 8.988520622253418
                    }
                },
                "velocity": {
                    "x": 8.70794065122027e-06,
                    "y": 6.987962842686102e-05,
                    "z": -0.0007856680895201862
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4711260497570038,
                "transform": {
                    "location": {
                        "x": 3643.260009765625,
                        "y": 4257.380859375,
                        "z": 368.4338073730469
                    },
                    "rotation": {
                        "roll": 0.000433108041761443,
                        "pitch": 0.34884506464004517,
                        "yaw": 8.988393783569336
                    }
                },
                "velocity": {
                    "x": 0.002625403692945838,
                    "y": 0.00040091422852128744,
                    "z": -0.4711185693740845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03601166605949402,
        "expert_target_speed": 10.0,
        "target_point": [
            11.805190279619609,
            -0.048258988245482914
        ],
        "target_point_next": [
            13.804995602735815,
            -0.06851075650018013
        ]
    },
    "440": {
        "acceleration": [
            0.32001495361328125,
            -0.12885808944702148,
            0.0086994469165802
        ],
        "angular_velocity": [
            -0.013447213917970657,
            0.0383109524846077,
            -3.747767686843872
        ],
        "forward_vector": [
            0.9869551062583923,
            0.16064366698265076,
            0.01064006146043539
        ],
        "right_vector": [
            -0.16064035892486572,
            0.9870123863220215,
            -0.00116992078255862
        ],
        "location": [
            3578.186767578125,
            4247.02783203125,
            367.79345703125
        ],
        "rotation": [
            0.06703533232212067,
            0.6096421480178833,
            9.244786262512207
        ],
        "velocity": [
            8.385420799255371,
            1.3481311798095703,
            0.08237453550100327
        ],
        "speed": 8.493099531888186,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 55.887821197509766,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.376708984375,
                4255.8173828125,
                368.3061218261719
            ],
            "velocity": [
                -1.4594718777516391e-05,
                -1.2006051974822185e-06,
                -9.900987060973421e-05
            ],
            "speed_kmh": 0.0003603130952985189,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.305059432983398,
                "transform": {
                    "location": {
                        "x": 3550.9697265625,
                        "y": 4242.87451171875,
                        "z": 367.5285949707031
                    },
                    "rotation": {
                        "roll": 0.0016857992159202695,
                        "pitch": 0.5459643006324768,
                        "yaw": 9.11834716796875
                    }
                },
                "velocity": {
                    "x": 9.187512397766113,
                    "y": 1.4718639850616455,
                    "z": 0.08585648983716965
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.778498649597168,
                "transform": {
                    "location": {
                        "x": 3566.451171875,
                        "y": 4242.09423828125,
                        "z": 367.71112060546875
                    },
                    "rotation": {
                        "roll": 7.228288450278342e-05,
                        "pitch": -0.4550476670265198,
                        "yaw": -170.9718780517578
                    }
                },
                "velocity": {
                    "x": -7.682170391082764,
                    "y": -1.2180068492889404,
                    "z": -0.07586845010519028
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.719369411468506,
                "transform": {
                    "location": {
                        "x": 3550.5146484375,
                        "y": 4239.57568359375,
                        "z": 367.52783203125
                    },
                    "rotation": {
                        "roll": 4.7188914322759956e-05,
                        "pitch": -0.41696253418922424,
                        "yaw": -170.99267578125
                    }
                },
                "velocity": {
                    "x": -5.648623943328857,
                    "y": -0.8952847719192505,
                    "z": -0.051918499171733856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.174746036529541,
                "transform": {
                    "location": {
                        "x": 3537.404052734375,
                        "y": 4237.03125,
                        "z": 367.40386962890625
                    },
                    "rotation": {
                        "roll": -0.21273797750473022,
                        "pitch": -0.5270105600357056,
                        "yaw": -164.6260223388672
                    }
                },
                "velocity": {
                    "x": -3.928236961364746,
                    "y": -1.4128292798995972,
                    "z": -0.03706825524568558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3508.14990234375,
                        "y": 4232.96337890625,
                        "z": 367.1529541015625
                    },
                    "rotation": {
                        "roll": 6.670384689044795e-09,
                        "pitch": -0.522919237613678,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010008697427110747,
                "transform": {
                    "location": {
                        "x": 3633.376708984375,
                        "y": 4255.8173828125,
                        "z": 368.3061218261719
                    },
                    "rotation": {
                        "roll": 0.0004249512276146561,
                        "pitch": 0.43202993273735046,
                        "yaw": 8.988520622253418
                    }
                },
                "velocity": {
                    "x": -1.4594718777516391e-05,
                    "y": -1.2006051974822185e-06,
                    "z": -9.900987060973421e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08968131989240646,
                "transform": {
                    "location": {
                        "x": 3643.260498046875,
                        "y": 4257.380859375,
                        "z": 368.3617858886719
                    },
                    "rotation": {
                        "roll": 0.0004739822179544717,
                        "pitch": 0.3624439537525177,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 0.0005027383449487388,
                    "y": 5.479520041262731e-05,
                    "z": -0.08967989683151245
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04166169837117195,
        "expert_target_speed": 10.0,
        "target_point": [
            9.690477887015403,
            0.01616417032928763
        ],
        "target_point_next": [
            11.69036593552396,
            0.007261478939353694
        ]
    },
    "445": {
        "acceleration": [
            0.5459976196289062,
            -0.10146379470825195,
            -0.00256955623626709
        ],
        "angular_velocity": [
            0.009335467591881752,
            -0.06297500431537628,
            1.279038667678833
        ],
        "forward_vector": [
            0.9877210259437561,
            0.15586118400096893,
            0.010697160847485065
        ],
        "right_vector": [
            -0.15585792064666748,
            0.9877787828445435,
            -0.0011443234980106354
        ],
        "location": [
            3580.296142578125,
            4247.36181640625,
            367.8142395019531
        ],
        "rotation": [
            0.06556867063045502,
            0.6129138469696045,
            8.967263221740723
        ],
        "velocity": [
            8.496024131774902,
            1.3202013969421387,
            0.08420179039239883
        ],
        "speed": 8.597985681320333,
        "speed_limit": 40.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 53.752071380615234,
        "front_vehicle_info": {
            "id": 4013,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                3633.376708984375,
                4255.8173828125,
                368.3061218261719
            ],
            "velocity": [
                -3.4125670936191455e-05,
                7.925260433694348e-05,
                -0.000939548306632787
            ],
            "speed_kmh": 0.0033966082172382085,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4025,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.59422492980957,
                "transform": {
                    "location": {
                        "x": 3538.41650390625,
                        "y": 4240.79736328125,
                        "z": 367.7655334472656
                    },
                    "rotation": {
                        "roll": 6.670362484584302e-09,
                        "pitch": 0.5017661452293396,
                        "yaw": 8.988387107849121
                    }
                },
                "velocity": {
                    "x": 8.441476821899414,
                    "y": 1.335241675376892,
                    "z": -0.9051526188850403
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4024,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.1353120803833,
                "transform": {
                    "location": {
                        "x": 3553.372314453125,
                        "y": 4243.2587890625,
                        "z": 367.5511169433594
                    },
                    "rotation": {
                        "roll": 0.0015948946820572019,
                        "pitch": 0.5580878853797913,
                        "yaw": 9.0742769241333
                    }
                },
                "velocity": {
                    "x": 10.008365631103516,
                    "y": 1.596334457397461,
                    "z": 0.09426646679639816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4023,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.847954273223877,
                "transform": {
                    "location": {
                        "x": 3564.6533203125,
                        "y": 4241.80908203125,
                        "z": 367.6949157714844
                    },
                    "rotation": {
                        "roll": 5.645565397571772e-05,
                        "pitch": -0.6112062931060791,
                        "yaw": -170.99118041992188
                    }
                },
                "velocity": {
                    "x": -6.763134002685547,
                    "y": -1.0724495649337769,
                    "z": -0.06593792885541916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4020,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0421390533447266,
                "transform": {
                    "location": {
                        "x": 3549.628662109375,
                        "y": 4239.43603515625,
                        "z": 367.5169372558594
                    },
                    "rotation": {
                        "roll": -0.0003051763051189482,
                        "pitch": -0.11404366046190262,
                        "yaw": -171.24267578125
                    }
                },
                "velocity": {
                    "x": -1.030057668685913,
                    "y": -0.1579354852437973,
                    "z": -0.00955801922827959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4018,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.321582794189453,
                "transform": {
                    "location": {
                        "x": 3536.328369140625,
                        "y": 4236.54638671875,
                        "z": 367.3924560546875
                    },
                    "rotation": {
                        "roll": -0.3410644233226776,
                        "pitch": -0.4597195088863373,
                        "yaw": -158.58734130859375
                    }
                },
                "velocity": {
                    "x": -4.791810035705566,
                    "y": -2.3142261505126953,
                    "z": -0.046449124813079834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4015,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3505.404541015625,
                        "y": 4232.53466796875,
                        "z": 367.12713623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5537711977958679,
                        "yaw": -171.0115966796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4013,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009435022948309779,
                "transform": {
                    "location": {
                        "x": 3633.376708984375,
                        "y": 4255.8173828125,
                        "z": 368.3061218261719
                    },
                    "rotation": {
                        "roll": 0.0004249512276146561,
                        "pitch": 0.43202993273735046,
                        "yaw": 8.988520622253418
                    }
                },
                "velocity": {
                    "x": -3.4125670936191455e-05,
                    "y": 7.925260433694348e-05,
                    "z": -0.000939548306632787
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4012,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.07479328662157059,
                "transform": {
                    "location": {
                        "x": 3643.260498046875,
                        "y": 4257.380859375,
                        "z": 368.36865234375
                    },
                    "rotation": {
                        "roll": 0.00025377087877132,
                        "pitch": 0.36082521080970764,
                        "yaw": 8.98840618133545
                    }
                },
                "velocity": {
                    "x": -0.00044052168959751725,
                    "y": -1.7030126400641166e-05,
                    "z": 0.07479199022054672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0461781807243824,
        "expert_target_speed": 10.0,
        "target_point": [
            7.554634451130281,
            0.06198647440833405
        ],
        "target_point_next": [
            9.554542161450136,
            0.0627704926131969
        ]
    }
}