{
    "0": {
        "acceleration": [
            -0.003567347303032875,
            0.0002628146903589368,
            -0.36349207162857056
        ],
        "angular_velocity": [
            -0.0047339582815766335,
            0.0340442955493927,
            -3.2399766496382654e-05
        ],
        "forward_vector": [
            0.9999721050262451,
            -0.00078454555477947,
            -0.007430246099829674
        ],
        "right_vector": [
            0.0007852597627788782,
            0.9999997019767761,
            9.320805838797241e-05
        ],
        "location": [
            2360.921875,
            2298.13037109375,
            364.03021240234375
        ],
        "rotation": [
            -0.005340576171875,
            -0.42572566866874695,
            -0.044952392578125
        ],
        "velocity": [
            0.0018880851566791534,
            4.102228922420181e-05,
            0.23456071317195892
        ],
        "speed": 0.0018885307482499028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "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": -0.0017659530276432633,
        "expert_target_speed": 1.4340423256681847,
        "target_point": [
            12.498050690228036,
            4.024249921860852e-05
        ],
        "target_point_next": [
            24.432708335730716,
            13.584847710872241
        ]
    },
    "5": {
        "acceleration": [
            -0.0029452540911734104,
            0.005474768113344908,
            -0.47449812293052673
        ],
        "angular_velocity": [
            -0.0223536416888237,
            0.027977533638477325,
            0.00011052830086555332
        ],
        "forward_vector": [
            0.9999710917472839,
            -0.0007845447980798781,
            -0.007564352825284004
        ],
        "right_vector": [
            0.0007848936365917325,
            0.9999997019767761,
            4.314197212806903e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.0695495605469
        ],
        "rotation": [
            -0.0024719235952943563,
            -0.4334096312522888,
            -0.0449523963034153
        ],
        "velocity": [
            0.0007923960220068693,
            0.00017537185340188444,
            0.0913417786359787
        ],
        "speed": 0.0008115705407775242,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2439.62060546875,
                        "y": 2295.69189453125,
                        "z": 363.3948669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.183349609375,
                        "z": 362.7814025878906
                    },
                    "rotation": {
                        "roll": 1.0674393990939279e-07,
                        "pitch": 1.1696629524230957,
                        "yaw": 90.0888442993164
                    }
                },
                "velocity": {
                    "x": -1.263397997330884e-10,
                    "y": 8.147581098683077e-08,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.454813152551651,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.897705078125,
                        "z": 364.9735412597656
                    },
                    "rotation": {
                        "roll": -0.0007323783356696367,
                        "pitch": 1.3854832649230957,
                        "yaw": 89.73763275146484
                    }
                },
                "velocity": {
                    "x": -3.144205766147934e-05,
                    "y": 0.010932455770671368,
                    "z": -0.45468175411224365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23225976526737213,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.896728515625,
                        "z": 365.3818664550781
                    },
                    "rotation": {
                        "roll": 0.0010722449515014887,
                        "pitch": 1.4261912107467651,
                        "yaw": 89.73763275146484
                    }
                },
                "velocity": {
                    "x": -6.37823177385144e-05,
                    "y": 0.005694492254406214,
                    "z": -0.23218993842601776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43439435958862305,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.1827392578125
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": 0.15356996655464172,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": 0.0011089693289250135,
                    "y": -5.162072739040013e-06,
                    "z": -0.43439292907714844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.46550092101097107,
                "transform": {
                    "location": {
                        "x": 2345.922607421875,
                        "y": 2298.14208984375,
                        "z": 364.18267822265625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.18789848685264587,
                        "yaw": -0.04498291015625
                    }
                },
                "velocity": {
                    "x": -0.0010110848816111684,
                    "y": -7.153443584684283e-05,
                    "z": -0.4654998183250427
                },
                "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": -0.001124176080338657,
        "expert_target_speed": 1.290835022828871,
        "target_point": [
            12.49829483077789,
            4.0434049939296404e-05
        ],
        "target_point_next": [
            24.432952476280573,
            13.584847902422961
        ]
    },
    "10": {
        "acceleration": [
            -0.0008434164919890463,
            -0.0017254751874133945,
            -0.1523822844028473
        ],
        "angular_velocity": [
            -0.0023249988444149494,
            0.0078109330497682095,
            -4.497582631302066e-05
        ],
        "forward_vector": [
            0.9999707341194153,
            -0.0007850770489312708,
            -0.007611796725541353
        ],
        "right_vector": [
            0.0007853308925405145,
            0.9999997019767761,
            3.0359153242898174e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.0823059082031
        ],
        "rotation": [
            -0.0017395017202943563,
            -0.43612805008888245,
            -0.04498291015625
        ],
        "velocity": [
            0.00022762066510040313,
            2.4625611331430264e-05,
            0.024923840537667274
        ],
        "speed": 0.0002289488762020826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2437.5380859375,
                        "y": 2295.64892578125,
                        "z": 363.35546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2313011735677719,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.185791015625,
                        "z": 362.6502990722656
                    },
                    "rotation": {
                        "roll": 0.00023793191940058023,
                        "pitch": 1.1656467914581299,
                        "yaw": 90.08898162841797
                    }
                },
                "velocity": {
                    "x": 9.043293539434671e-05,
                    "y": -0.004729265347123146,
                    "z": 0.23125280439853668
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09471015632152557,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.898193359375,
                        "z": 364.9664306640625
                    },
                    "rotation": {
                        "roll": 0.0010656605008989573,
                        "pitch": 1.3844314813613892,
                        "yaw": 89.73766326904297
                    }
                },
                "velocity": {
                    "x": -0.00018195724987890571,
                    "y": -0.0023459189105778933,
                    "z": 0.09468092024326324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02428598888218403,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3753967285156
                    },
                    "rotation": {
                        "roll": 0.001019135001115501,
                        "pitch": 1.427448034286499,
                        "yaw": 89.73765563964844
                    }
                },
                "velocity": {
                    "x": 2.896288424381055e-05,
                    "y": -0.000646246480755508,
                    "z": 0.024277372285723686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02755155973136425,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.1585998535156
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.1544647216796875,
                        "yaw": -0.0448608435690403
                    }
                },
                "velocity": {
                    "x": -0.00010146161366719753,
                    "y": 8.380529470741749e-05,
                    "z": 0.02755124494433403
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09778563678264618,
                "transform": {
                    "location": {
                        "x": 2345.922607421875,
                        "y": 2298.14208984375,
                        "z": 364.1754455566406
                    },
                    "rotation": {
                        "roll": 0.0004398183664306998,
                        "pitch": -0.18804876506328583,
                        "yaw": -0.045013427734375
                    }
                },
                "velocity": {
                    "x": 0.00023257419525180012,
                    "y": -0.00015464270836673677,
                    "z": 0.09778524190187454
                },
                "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": -0.0011378091294318438,
        "expert_target_speed": 1.2244208710115716,
        "target_point": [
            12.498294830757189,
            4.639370132878372e-05
        ],
        "target_point_next": [
            24.432945998517525,
            13.58485955296104
        ]
    },
    "15": {
        "acceleration": [
            4.413425922393799,
            -0.03265295550227165,
            -0.07183799147605896
        ],
        "angular_velocity": [
            0.004519484005868435,
            -1.4462037086486816,
            0.41467708349227905
        ],
        "forward_vector": [
            0.9999921321868896,
            -0.0005150513607077301,
            -0.003943671006709337
        ],
        "right_vector": [
            0.0005150309880264103,
            0.9999998807907104,
            -6.177677278174087e-06
        ],
        "location": [
            2360.99267578125,
            2298.130126953125,
            364.0841979980469
        ],
        "rotation": [
            0.00035395758459344506,
            -0.22595630586147308,
            -0.029510498046875
        ],
        "velocity": [
            0.8539040088653564,
            -0.0011050543980672956,
            -0.00011158942652400583
        ],
        "speed": 0.8539047239016478,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2435.455322265625,
                        "y": 2295.605712890625,
                        "z": 363.34197998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0916268602013588,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.184814453125,
                        "z": 362.69671630859375
                    },
                    "rotation": {
                        "roll": 0.002184138400480151,
                        "pitch": 1.1661181449890137,
                        "yaw": 90.0890121459961
                    }
                },
                "velocity": {
                    "x": 8.110198905342259e-06,
                    "y": -0.0019087394466623664,
                    "z": 0.0916069746017456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020764324814081192,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.898193359375,
                        "z": 364.9803466796875
                    },
                    "rotation": {
                        "roll": 0.0011441772803664207,
                        "pitch": 1.3847047090530396,
                        "yaw": 89.73766326904297
                    }
                },
                "velocity": {
                    "x": -7.652800559299067e-05,
                    "y": -0.0005686315707862377,
                    "z": 0.020756397396326065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.006495943758636713,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3790283203125
                    },
                    "rotation": {
                        "roll": 0.001108702621422708,
                        "pitch": 1.4283359050750732,
                        "yaw": 89.73773193359375
                    }
                },
                "velocity": {
                    "x": -6.697248318232596e-05,
                    "y": -0.00019622236141003668,
                    "z": 0.00649263383820653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9025574326515198,
                "transform": {
                    "location": {
                        "x": 2330.991943359375,
                        "y": 2298.154296875,
                        "z": 364.1657409667969
                    },
                    "rotation": {
                        "roll": -0.007904053665697575,
                        "pitch": 0.3728121817111969,
                        "yaw": -0.02285766415297985
                    }
                },
                "velocity": {
                    "x": 0.902137279510498,
                    "y": 0.009307820349931717,
                    "z": 0.02591528743505478
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02136092819273472,
                "transform": {
                    "location": {
                        "x": 2345.922607421875,
                        "y": 2298.14208984375,
                        "z": 364.1898498535156
                    },
                    "rotation": {
                        "roll": 0.00040180704672820866,
                        "pitch": -0.1873452514410019,
                        "yaw": -0.0449829138815403
                    }
                },
                "velocity": {
                    "x": 5.512751522473991e-05,
                    "y": 3.155716331093572e-05,
                    "z": 0.021360833197832108
                },
                "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": 0.00033729171263985336,
        "expert_target_speed": 2.0532627040398177,
        "target_point": [
            12.427249349492207,
            -0.003120710635504215
        ],
        "target_point_next": [
            24.365568104531828,
            13.578469489749288
        ]
    },
    "20": {
        "acceleration": [
            4.77468729019165,
            -0.04188939183950424,
            -0.03994407132267952
        ],
        "angular_velocity": [
            -0.07331974804401398,
            -0.5349526405334473,
            -0.006112698931246996
        ],
        "forward_vector": [
            0.9999992847442627,
            -0.0009326384752057493,
            -0.0007846354856155813
        ],
        "right_vector": [
            0.0009325739229097962,
            0.9999995827674866,
            -8.267762314062566e-05
        ],
        "location": [
            2361.3369140625,
            2298.128662109375,
            364.0817565917969
        ],
        "rotation": [
            0.0047370800748467445,
            -0.044956304132938385,
            -0.0534362718462944
        ],
        "velocity": [
            1.894167423248291,
            -0.008039163425564766,
            -0.012725342996418476
        ],
        "speed": 1.8941844829487051,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2433.37255859375,
                        "y": 2295.562744140625,
                        "z": 363.3658447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.162015676498413,
                "transform": {
                    "location": {
                        "x": 2385.342041015625,
                        "y": 2241.412353515625,
                        "z": 362.71051025390625
                    },
                    "rotation": {
                        "roll": 0.010922325775027275,
                        "pitch": 0.9809995293617249,
                        "yaw": 90.24345397949219
                    }
                },
                "velocity": {
                    "x": -0.03548004850745201,
                    "y": 2.1612558364868164,
                    "z": 0.045016705989837646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1686675548553467,
                "transform": {
                    "location": {
                        "x": 2385.502197265625,
                        "y": 2342.132080078125,
                        "z": 364.9889831542969
                    },
                    "rotation": {
                        "roll": 0.0055382512509822845,
                        "pitch": 1.1973730325698853,
                        "yaw": 89.7870101928711
                    }
                },
                "velocity": {
                    "x": -0.012844729237258434,
                    "y": 2.167997121810913,
                    "z": 0.052366435527801514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015401463024318218,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3796081542969
                    },
                    "rotation": {
                        "roll": 0.0011067809537053108,
                        "pitch": 1.4280695915222168,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": 7.407803786918521e-05,
                    "y": -8.355110912816599e-05,
                    "z": 0.0015360931865870953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8759543895721436,
                "transform": {
                    "location": {
                        "x": 2331.348388671875,
                        "y": 2298.15771484375,
                        "z": 364.1695251464844
                    },
                    "rotation": {
                        "roll": -0.014190674759447575,
                        "pitch": 0.5442021489143372,
                        "yaw": 0.11912941932678223
                    }
                },
                "velocity": {
                    "x": 1.8757891654968262,
                    "y": 0.02141275629401207,
                    "z": 0.01271370891481638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.176809072494507,
                "transform": {
                    "location": {
                        "x": 2346.1484375,
                        "y": 2298.143310546875,
                        "z": 364.1922607421875
                    },
                    "rotation": {
                        "roll": 0.005588886793702841,
                        "pitch": -0.3905365467071533,
                        "yaw": 0.08486171066761017
                    }
                },
                "velocity": {
                    "x": 2.1766180992126465,
                    "y": 0.02794989012181759,
                    "z": -0.007155103608965874
                },
                "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": 0.0019774094689637423,
        "expert_target_speed": 3.09300377152716,
        "target_point": [
            12.08301007140818,
            0.0032125757031528056
        ],
        "target_point_next": [
            24.015656247530725,
            13.589786915969617
        ]
    },
    "25": {
        "acceleration": [
            3.4809494018554688,
            -0.03747273236513138,
            -0.04644662141799927
        ],
        "angular_velocity": [
            -0.05304528400301933,
            0.08570794761180878,
            -1.0214775800704956
        ],
        "forward_vector": [
            0.999994158744812,
            -0.003422687528654933,
            -0.00015604494547005743
        ],
        "right_vector": [
            0.0034226516727358103,
            0.999994158744812,
            -0.00022958866611588746
        ],
        "location": [
            2361.934326171875,
            2298.1259765625,
            364.0773010253906
        ],
        "rotation": [
            0.013154461979866028,
            -0.008940717205405235,
            -0.1961059421300888
        ],
        "velocity": [
            2.8280370235443115,
            -0.018243446946144104,
            -0.020489124581217766
        ],
        "speed": 2.828095866461009,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.043985366821289,
                "transform": {
                    "location": {
                        "x": 2431.3017578125,
                        "y": 2295.51904296875,
                        "z": 363.3891296386719
                    },
                    "rotation": {
                        "roll": -0.0030517589766532183,
                        "pitch": 0.7152573466300964,
                        "yaw": -178.7906494140625
                    }
                },
                "velocity": {
                    "x": -8.041152000427246,
                    "y": -0.20074404776096344,
                    "z": 0.07267919182777405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2957687377929688,
                "transform": {
                    "location": {
                        "x": 2385.33203125,
                        "y": 2242.108642578125,
                        "z": 362.7236633300781
                    },
                    "rotation": {
                        "roll": 0.008753877133131027,
                        "pitch": 1.0309008359909058,
                        "yaw": 90.43741607666016
                    }
                },
                "velocity": {
                    "x": -0.05455132946372032,
                    "y": 3.294682025909424,
                    "z": 0.06469801068305969
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.265958547592163,
                "transform": {
                    "location": {
                        "x": 2385.49951171875,
                        "y": 2342.82373046875,
                        "z": 365.00518798828125
                    },
                    "rotation": {
                        "roll": 0.007567290682345629,
                        "pitch": 1.2460449934005737,
                        "yaw": 89.94780731201172
                    }
                },
                "velocity": {
                    "x": -0.019423583522439003,
                    "y": 3.264967203140259,
                    "z": 0.07808127999305725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011764982482418418,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3797912597656
                    },
                    "rotation": {
                        "roll": 0.0010599157540127635,
                        "pitch": 1.4283905029296875,
                        "yaw": 89.73795318603516
                    }
                },
                "velocity": {
                    "x": -1.6960548236966133e-06,
                    "y": -7.443636422976851e-05,
                    "z": 0.0011741399066522717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9946839809417725,
                "transform": {
                    "location": {
                        "x": 2331.951416015625,
                        "y": 2298.163818359375,
                        "z": 364.171875
                    },
                    "rotation": {
                        "roll": -0.013397216796875,
                        "pitch": 0.613002598285675,
                        "yaw": 0.2803754210472107
                    }
                },
                "velocity": {
                    "x": 2.9944725036621094,
                    "y": 0.03429095074534416,
                    "z": 0.009538545273244381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3676538467407227,
                "transform": {
                    "location": {
                        "x": 2346.856201171875,
                        "y": 2298.151123046875,
                        "z": 364.189453125
                    },
                    "rotation": {
                        "roll": 0.003608099650591612,
                        "pitch": -0.36501896381378174,
                        "yaw": 0.2805290222167969
                    }
                },
                "velocity": {
                    "x": 3.367338180541992,
                    "y": 0.043983329087495804,
                    "z": -0.013817863538861275
                },
                "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": 0.008836895227432251,
        "expert_target_speed": 4.0255316916863055,
        "target_point": [
            11.485546810860379,
            0.033940533681026605
        ],
        "target_point_next": [
            23.384324865839023,
            13.650185532449145
        ]
    },
    "30": {
        "acceleration": [
            4.32490348815918,
            -0.06329677999019623,
            -0.026944801211357117
        ],
        "angular_velocity": [
            0.021093128249049187,
            -0.16659586131572723,
            -0.2889600098133087
        ],
        "forward_vector": [
            0.9999871850013733,
            -0.005061582196503878,
            6.401538121281192e-05
        ],
        "right_vector": [
            0.005061597563326359,
            0.9999871850013733,
            -0.00023728360247332603
        ],
        "location": [
            2362.7685546875,
            2298.119873046875,
            364.071044921875
        ],
        "rotation": [
            0.01359534915536642,
            0.0036678113974630833,
            -0.2900085151195526
        ],
        "velocity": [
            3.837482213973999,
            -0.03120787814259529,
            -0.028212007135152817
        ],
        "speed": 3.8376091090970883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.149683952331543,
                "transform": {
                    "location": {
                        "x": 2429.282958984375,
                        "y": 2295.4658203125,
                        "z": 363.4082336425781
                    },
                    "rotation": {
                        "roll": 0.0007107927231118083,
                        "pitch": 0.7152642011642456,
                        "yaw": -178.4168701171875
                    }
                },
                "velocity": {
                    "x": -8.145708084106445,
                    "y": -0.23796936869621277,
                    "z": 0.09031501412391663
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.401242733001709,
                "transform": {
                    "location": {
                        "x": 2385.3173828125,
                        "y": 2243.07568359375,
                        "z": 362.7430419921875
                    },
                    "rotation": {
                        "roll": 0.013196945190429688,
                        "pitch": 1.057456612586975,
                        "yaw": 90.63566589355469
                    }
                },
                "velocity": {
                    "x": -0.07388756424188614,
                    "y": 4.3997111320495605,
                    "z": 0.08956912904977798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.376884937286377,
                "transform": {
                    "location": {
                        "x": 2385.4951171875,
                        "y": 2343.78515625,
                        "z": 365.0282287597656
                    },
                    "rotation": {
                        "roll": 0.010666478425264359,
                        "pitch": 1.2729490995407104,
                        "yaw": 90.09549713134766
                    }
                },
                "velocity": {
                    "x": -0.0260767862200737,
                    "y": 4.375505447387695,
                    "z": 0.10673970729112625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016061780042946339,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.37982177734375
                    },
                    "rotation": {
                        "roll": 0.0013517301995307207,
                        "pitch": 1.4283974170684814,
                        "yaw": 89.73796844482422
                    }
                },
                "velocity": {
                    "x": 4.164008259976981e-06,
                    "y": -7.56335211917758e-05,
                    "z": 0.0016043907962739468
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.405439853668213,
                "transform": {
                    "location": {
                        "x": 2332.888916015625,
                        "y": 2298.17431640625,
                        "z": 364.17425537109375
                    },
                    "rotation": {
                        "roll": -0.01348876953125,
                        "pitch": 0.7308233976364136,
                        "yaw": 0.467242956161499
                    }
                },
                "velocity": {
                    "x": 4.405097961425781,
                    "y": 0.05378904566168785,
                    "z": 0.010973329655826092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.516653060913086,
                "transform": {
                    "location": {
                        "x": 2347.84912109375,
                        "y": 2298.16259765625,
                        "z": 364.1849670410156
                    },
                    "rotation": {
                        "roll": 0.0003306564758531749,
                        "pitch": -0.3469530940055847,
                        "yaw": 0.4638916850090027
                    }
                },
                "velocity": {
                    "x": 4.516196250915527,
                    "y": 0.05969354137778282,
                    "z": -0.023767881095409393
                },
                "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": 0.014612196944653988,
        "expert_target_speed": 5.031754652261583,
        "target_point": [
            10.651227038605114,
            0.05464495842089199
        ],
        "target_point_next": [
            22.52767360535878,
            13.690372442320095
        ]
    },
    "35": {
        "acceleration": [
            1.7307758331298828,
            -0.05634672939777374,
            -0.004095807671546936
        ],
        "angular_velocity": [
            0.008394747041165829,
            0.5977074503898621,
            -0.5378299355506897
        ],
        "forward_vector": [
            0.999973475933075,
            -0.00727089773863554,
            -0.00046932691475376487
        ],
        "right_vector": [
            0.007270760368555784,
            0.9999735355377197,
            -0.00029393675504252315
        ],
        "location": [
            2363.846435546875,
            2298.110595703125,
            364.0629577636719
        ],
        "rotation": [
            0.016841337084770203,
            -0.026890452951192856,
            -0.4165954887866974
        ],
        "velocity": [
            4.629263401031494,
            -0.046922165900468826,
            -0.033420685678720474
        ],
        "speed": 4.629501196217846,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.90739107131958,
                "transform": {
                    "location": {
                        "x": 2427.27783203125,
                        "y": 2295.407470703125,
                        "z": 363.43212890625
                    },
                    "rotation": {
                        "roll": 0.006788928993046284,
                        "pitch": 0.7092946171760559,
                        "yaw": -178.18405151367188
                    }
                },
                "velocity": {
                    "x": -7.903004169464111,
                    "y": -0.24461616575717926,
                    "z": 0.09758109599351883
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.283424377441406,
                "transform": {
                    "location": {
                        "x": 2385.304443359375,
                        "y": 2244.307373046875,
                        "z": 362.7684326171875
                    },
                    "rotation": {
                        "roll": 0.006552800070494413,
                        "pitch": 1.0756659507751465,
                        "yaw": 90.6125717163086
                    }
                },
                "velocity": {
                    "x": -0.04780019074678421,
                    "y": 5.282065391540527,
                    "z": 0.1098862811923027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.019835472106934,
                "transform": {
                    "location": {
                        "x": 2385.48876953125,
                        "y": 2345.002685546875,
                        "z": 365.0580139160156
                    },
                    "rotation": {
                        "roll": 0.011584993451833725,
                        "pitch": 1.3084046840667725,
                        "yaw": 90.20748138427734
                    }
                },
                "velocity": {
                    "x": -0.029468929395079613,
                    "y": 5.018225193023682,
                    "z": 0.12367846816778183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016640684334561229,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0005434356280602515,
                        "pitch": 1.4282948970794678,
                        "yaw": 89.73807525634766
                    }
                },
                "velocity": {
                    "x": 1.7647873391979374e-05,
                    "y": -9.251519804820418e-05,
                    "z": 0.0016614010091871023
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.374790191650391,
                "transform": {
                    "location": {
                        "x": 2334.1484375,
                        "y": 2298.186767578125,
                        "z": 364.1779479980469
                    },
                    "rotation": {
                        "roll": 0.01989273726940155,
                        "pitch": 0.691413164138794,
                        "yaw": 0.5197129845619202
                    }
                },
                "velocity": {
                    "x": 5.374623775482178,
                    "y": 0.0392700657248497,
                    "z": 0.015707368031144142
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.188639163970947,
                "transform": {
                    "location": {
                        "x": 2349.101806640625,
                        "y": 2298.175537109375,
                        "z": 364.1783752441406
                    },
                    "rotation": {
                        "roll": -0.012969971634447575,
                        "pitch": -0.3767395615577698,
                        "yaw": 0.5103612542152405
                    }
                },
                "velocity": {
                    "x": 5.1884636878967285,
                    "y": 0.031232263892889023,
                    "z": -0.029065078124403954
                },
                "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": 0.026988450437784195,
        "expert_target_speed": 5.819023697525988,
        "target_point": [
            9.573160485400823,
            0.07961778045418641
        ],
        "target_point_next": [
            21.419450972070308,
            13.741552078845581
        ]
    },
    "40": {
        "acceleration": [
            0.714569091796875,
            -0.054650306701660156,
            -0.02281203866004944
        ],
        "angular_velocity": [
            0.021586351096630096,
            0.6188105344772339,
            -0.5604301691055298
        ],
        "forward_vector": [
            0.9999460577964783,
            -0.009672380983829498,
            -0.003774752840399742
        ],
        "right_vector": [
            0.009671146050095558,
            0.9999531507492065,
            -0.00034509351826272905
        ],
        "location": [
            2365.0322265625,
            2298.09765625,
            364.05487060546875
        ],
        "rotation": [
            0.019772544503211975,
            -0.21627792716026306,
            -0.55419921875
        ],
        "velocity": [
            4.8407392501831055,
            -0.06055823713541031,
            -0.03624618798494339
        ],
        "speed": 4.841118030821831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.057262420654297,
                "transform": {
                    "location": {
                        "x": 2425.28271484375,
                        "y": 2295.345947265625,
                        "z": 363.4568786621094
                    },
                    "rotation": {
                        "roll": 0.010587996803224087,
                        "pitch": 0.7023346424102783,
                        "yaw": -178.1426239013672
                    }
                },
                "velocity": {
                    "x": -8.053146362304688,
                    "y": -0.23782458901405334,
                    "z": 0.09869208931922913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.674907684326172,
                "transform": {
                    "location": {
                        "x": 2385.29150390625,
                        "y": 2245.6640625,
                        "z": 362.79595947265625
                    },
                    "rotation": {
                        "roll": 0.007802312728017569,
                        "pitch": 1.1198230981826782,
                        "yaw": 90.5462875366211
                    }
                },
                "velocity": {
                    "x": -0.05101275444030762,
                    "y": 5.673449993133545,
                    "z": 0.11808586120605469
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6942806243896484,
                "transform": {
                    "location": {
                        "x": 2385.482177734375,
                        "y": 2346.10595703125,
                        "z": 365.0831298828125
                    },
                    "rotation": {
                        "roll": 0.01026150956749916,
                        "pitch": 1.4908117055892944,
                        "yaw": 90.23206329345703
                    }
                },
                "velocity": {
                    "x": -0.023145483806729317,
                    "y": 3.693118095397949,
                    "z": 0.08973096311092377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012737822253257036,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013876530574634671,
                        "pitch": 1.4280626773834229,
                        "yaw": 89.73808288574219
                    }
                },
                "velocity": {
                    "x": -2.7041554858442396e-05,
                    "y": -8.566572796553373e-05,
                    "z": 0.0012706106062978506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.121258735656738,
                "transform": {
                    "location": {
                        "x": 2335.529052734375,
                        "y": 2298.197021484375,
                        "z": 364.1822509765625
                    },
                    "rotation": {
                        "roll": 0.015050318092107773,
                        "pitch": 0.5221201181411743,
                        "yaw": 0.4237142503261566
                    }
                },
                "velocity": {
                    "x": 6.121118545532227,
                    "y": 0.03863387554883957,
                    "z": 0.014815282076597214
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.926883220672607,
                "transform": {
                    "location": {
                        "x": 2350.4814453125,
                        "y": 2298.185302734375,
                        "z": 364.1710510253906
                    },
                    "rotation": {
                        "roll": -0.005767821334302425,
                        "pitch": -0.42974865436553955,
                        "yaw": 0.38462528586387634
                    }
                },
                "velocity": {
                    "x": 5.926680564880371,
                    "y": 0.035462550818920135,
                    "z": -0.033853936940431595
                },
                "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": 0.0455673485994339,
        "expert_target_speed": 6.029012725246304,
        "target_point": [
            8.387080967618042,
            0.10407768538427689
        ],
        "target_point_next": [
            20.20052695376042,
            13.794422494797065
        ]
    },
    "45": {
        "acceleration": [
            0.7676315307617188,
            0.08103281259536743,
            0.058505237102508545
        ],
        "angular_velocity": [
            0.11698615550994873,
            0.20227603614330292,
            0.3910572826862335
        ],
        "forward_vector": [
            0.9999319911003113,
            -0.010334860533475876,
            -0.005407663993537426
        ],
        "right_vector": [
            0.01033558789640665,
            0.9999465942382812,
            0.00010652487981133163
        ],
        "location": [
            2366.265625,
            2298.083984375,
            364.0460205078125
        ],
        "rotation": [
            -0.006103515159338713,
            -0.30983784794807434,
            -0.5921630859375
        ],
        "velocity": [
            5.030299186706543,
            -0.04434466361999512,
            -0.03387020155787468
        ],
        "speed": 5.030494643369782,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2439.6611328125,
                        "y": 2295.692626953125,
                        "z": 363.3956298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.8141303062438965,
                "transform": {
                    "location": {
                        "x": 2423.301025390625,
                        "y": 2295.288330078125,
                        "z": 363.4812316894531
                    },
                    "rotation": {
                        "roll": 0.009199772030115128,
                        "pitch": 0.7030176520347595,
                        "yaw": -178.34048461914062
                    }
                },
                "velocity": {
                    "x": -7.810648441314697,
                    "y": -0.21260583400726318,
                    "z": 0.09593021124601364
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.843723297119141,
                "transform": {
                    "location": {
                        "x": 2385.278076171875,
                        "y": 2247.177490234375,
                        "z": 362.8277893066406
                    },
                    "rotation": {
                        "roll": 0.009221456944942474,
                        "pitch": 1.070461392402649,
                        "yaw": 90.5194091796875
                    }
                },
                "velocity": {
                    "x": -0.05967840179800987,
                    "y": 6.8419928550720215,
                    "z": 0.1418474316596985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3647513389587402,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2346.850830078125,
                        "z": 365.10107421875
                    },
                    "rotation": {
                        "roll": 0.008469605818390846,
                        "pitch": 1.5248874425888062,
                        "yaw": 90.24644470214844
                    }
                },
                "velocity": {
                    "x": 0.0005936377565376461,
                    "y": 2.364051103591919,
                    "z": 0.05754011124372482
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011895766947418451,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": -5.295968003338203e-05,
                    "y": -8.280992187792435e-05,
                    "z": 0.001185508561320603
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.717108726501465,
                "transform": {
                    "location": {
                        "x": 2337.271728515625,
                        "y": 2298.2080078125,
                        "z": 364.18499755859375
                    },
                    "rotation": {
                        "roll": 0.009433593600988388,
                        "pitch": 0.7167873382568359,
                        "yaw": 0.3743981719017029
                    }
                },
                "velocity": {
                    "x": 7.716954708099365,
                    "y": 0.04667827486991882,
                    "z": 0.014079999178647995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.081235408782959,
                "transform": {
                    "location": {
                        "x": 2352.05078125,
                        "y": 2298.19482421875,
                        "z": 364.1614074707031
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": -0.4983442425727844,
                        "yaw": 0.35748985409736633
                    }
                },
                "velocity": {
                    "x": 7.080912113189697,
                    "y": 0.04389230161905289,
                    "z": -0.051512911915779114
                },
                "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": 0.06427554041147232,
        "expert_target_speed": 6.216732266527615,
        "target_point": [
            18.957908952222052,
            13.808727630329962
        ],
        "target_point_next": [
            18.773668690038555,
            45.80828838133895
        ]
    },
    "50": {
        "acceleration": [
            0.6993770599365234,
            0.05413219332695007,
            -0.01511111855506897
        ],
        "angular_velocity": [
            0.019070260226726532,
            0.3566522002220154,
            0.28164464235305786
        ],
        "forward_vector": [
            0.9999330043792725,
            -0.009394744411110878,
            -0.006766505539417267
        ],
        "right_vector": [
            0.009395723231136799,
            0.9999558925628662,
            0.00011291543341940269
        ],
        "location": [
            2367.51904296875,
            2298.073974609375,
            364.0370178222656
        ],
        "rotation": [
            -0.006469725631177425,
            -0.38769516348838806,
            -0.5382994413375854
        ],
        "velocity": [
            5.001585960388184,
            -0.03836280480027199,
            -0.03737231343984604
        ],
        "speed": 5.001733082037099,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2437.69287109375,
                        "y": 2295.65185546875,
                        "z": 363.3583068847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.467536926269531,
                "transform": {
                    "location": {
                        "x": 2421.339111328125,
                        "y": 2295.234619140625,
                        "z": 363.50543212890625
                    },
                    "rotation": {
                        "roll": 0.005983409471809864,
                        "pitch": 0.6969797611236572,
                        "yaw": -178.52220153808594
                    }
                },
                "velocity": {
                    "x": -7.46449089050293,
                    "y": -0.19220435619354248,
                    "z": 0.0924467071890831
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.112744331359863,
                "transform": {
                    "location": {
                        "x": 2385.2626953125,
                        "y": 2249.07080078125,
                        "z": 362.86724853515625
                    },
                    "rotation": {
                        "roll": 0.0013063907390460372,
                        "pitch": 1.0606532096862793,
                        "yaw": 90.45455169677734
                    }
                },
                "velocity": {
                    "x": -0.04494674876332283,
                    "y": 8.110852241516113,
                    "z": 0.16932912170886993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006925758207216859,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.159423828125,
                        "z": 365.1077575683594
                    },
                    "rotation": {
                        "roll": 0.012403554283082485,
                        "pitch": 1.6357072591781616,
                        "yaw": 90.27313995361328
                    }
                },
                "velocity": {
                    "x": 0.00026805768720805645,
                    "y": -0.0002525752643123269,
                    "z": -0.0005865254206582904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010481238859938458,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": 4.6386335270653944e-06,
                    "y": -4.806786819244735e-05,
                    "z": 9.302472608396783e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.618744373321533,
                "transform": {
                    "location": {
                        "x": 2339.240966796875,
                        "y": 2298.21875,
                        "z": 364.1897277832031
                    },
                    "rotation": {
                        "roll": 0.01920449361205101,
                        "pitch": 0.3378826081752777,
                        "yaw": 0.30966341495513916
                    }
                },
                "velocity": {
                    "x": 7.618677139282227,
                    "y": 0.030233150348067284,
                    "z": 0.010564804077148438
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.783949851989746,
                "transform": {
                    "location": {
                        "x": 2353.93310546875,
                        "y": 2298.206298828125,
                        "z": 364.1477966308594
                    },
                    "rotation": {
                        "roll": -0.00677490234375,
                        "pitch": -0.5141902565956116,
                        "yaw": 0.3273489773273468
                    }
                },
                "velocity": {
                    "x": 7.783697128295898,
                    "y": 0.027505990117788315,
                    "z": -0.05635805055499077
                },
                "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": 0.07099111378192902,
        "expert_target_speed": 6.188246719900823,
        "target_point": [
            17.717425251151617,
            13.78913303210396
        ],
        "target_point_next": [
            17.563267355654745,
            45.788852844548884
        ]
    },
    "55": {
        "acceleration": [
            -0.605316162109375,
            0.040178075432777405,
            0.00852234661579132
        ],
        "angular_velocity": [
            -0.0046186307445168495,
            0.2499706894159317,
            0.38621047139167786
        ],
        "forward_vector": [
            0.9999414086341858,
            -0.007864546030759811,
            -0.007433345541357994
        ],
        "right_vector": [
            0.007865587249398232,
            0.9999690651893616,
            0.00011078443640144542
        ],
        "location": [
            2368.771728515625,
            2298.065185546875,
            364.0276184082031
        ],
        "rotation": [
            -0.00634765625,
            -0.4259032607078552,
            -0.45062243938446045
        ],
        "velocity": [
            4.980965614318848,
            -0.03024272620677948,
            -0.041944000869989395
        ],
        "speed": 4.981057425237653,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.402969837188721,
                "transform": {
                    "location": {
                        "x": 2436.16748046875,
                        "y": 2295.613037109375,
                        "z": 363.3360595703125
                    },
                    "rotation": {
                        "roll": -0.0313415490090847,
                        "pitch": 0.3761111795902252,
                        "yaw": -178.54811096191406
                    }
                },
                "velocity": {
                    "x": -5.400152683258057,
                    "y": -0.17442943155765533,
                    "z": 0.002367334207519889
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.732906341552734,
                "transform": {
                    "location": {
                        "x": 2419.6103515625,
                        "y": 2295.191162109375,
                        "z": 363.5267639160156
                    },
                    "rotation": {
                        "roll": 0.00457290792837739,
                        "pitch": 0.681290864944458,
                        "yaw": -178.637451171875
                    }
                },
                "velocity": {
                    "x": -6.73052453994751,
                    "y": -0.15835002064704895,
                    "z": 0.08360954374074936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.112162590026855,
                "transform": {
                    "location": {
                        "x": 2385.251220703125,
                        "y": 2251.124267578125,
                        "z": 362.9093017578125
                    },
                    "rotation": {
                        "roll": 0.003664883552119136,
                        "pitch": 1.1623752117156982,
                        "yaw": 90.33201599121094
                    }
                },
                "velocity": {
                    "x": -0.04048740863800049,
                    "y": 8.110295295715332,
                    "z": 0.16926540434360504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007178664091043174,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.158447265625,
                        "z": 365.1092529296875
                    },
                    "rotation": {
                        "roll": 0.012703082524240017,
                        "pitch": 1.4474468231201172,
                        "yaw": 90.273193359375
                    }
                },
                "velocity": {
                    "x": 2.3448468709830195e-05,
                    "y": -0.0006304059643298388,
                    "z": -0.00034259408130310476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014500225661322474,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": 1.0661316991900094e-05,
                    "y": -7.452860154444352e-05,
                    "z": 0.0014480666723102331
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.48736047744751,
                "transform": {
                    "location": {
                        "x": 2340.948974609375,
                        "y": 2298.225341796875,
                        "z": 364.1927795410156
                    },
                    "rotation": {
                        "roll": 0.014234546571969986,
                        "pitch": -0.37902766466140747,
                        "yaw": 0.094022236764431
                    }
                },
                "velocity": {
                    "x": 5.487335205078125,
                    "y": 0.016527147963643074,
                    "z": -0.0018711185548454523
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.874797344207764,
                "transform": {
                    "location": {
                        "x": 2355.779052734375,
                        "y": 2298.2119140625,
                        "z": 364.1329345703125
                    },
                    "rotation": {
                        "roll": -0.0036926267202943563,
                        "pitch": -0.3693561255931854,
                        "yaw": 0.20268577337265015
                    }
                },
                "velocity": {
                    "x": 6.87457799911499,
                    "y": 0.016326436772942543,
                    "z": -0.05243246257305145
                },
                "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": 0.0703534185886383,
        "expert_target_speed": 6.1677843732776845,
        "target_point": [
            16.48578993715738,
            13.760940889127399
        ],
        "target_point_next": [
            16.380601043081192,
            45.76085913946496
        ]
    },
    "60": {
        "acceleration": [
            -3.7139892578125,
            0.044449493288993835,
            0.020732879638671875
        ],
        "angular_velocity": [
            0.04341903701424599,
            0.9500021934509277,
            0.3455335795879364
        ],
        "forward_vector": [
            0.999923586845398,
            -0.006234063766896725,
            -0.010674749501049519
        ],
        "right_vector": [
            0.006236096378415823,
            0.9999805688858032,
            0.00015711752348579466
        ],
        "location": [
            2369.938720703125,
            2298.05908203125,
            364.0193786621094
        ],
        "rotation": [
            -0.00900268368422985,
            -0.6116297245025635,
            -0.3572082221508026
        ],
        "velocity": [
            4.2673020362854,
            -0.01787206344306469,
            -0.03253176435828209
        ],
        "speed": 4.267339461483846,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.129776954650879,
                "transform": {
                    "location": {
                        "x": 2434.850341796875,
                        "y": 2295.572998046875,
                        "z": 363.3458557128906
                    },
                    "rotation": {
                        "roll": 0.004868099931627512,
                        "pitch": 0.6479800343513489,
                        "yaw": -178.3578338623047
                    }
                },
                "velocity": {
                    "x": -5.1272406578063965,
                    "y": -0.1512691080570221,
                    "z": 0.055978432297706604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.3731303215026855,
                "transform": {
                    "location": {
                        "x": 2417.861083984375,
                        "y": 2295.150634765625,
                        "z": 363.5480041503906
                    },
                    "rotation": {
                        "roll": 0.0035187783651053905,
                        "pitch": 0.7174566984176636,
                        "yaw": -178.71742248535156
                    }
                },
                "velocity": {
                    "x": -7.370726108551025,
                    "y": -0.16514168679714203,
                    "z": 0.09041200578212738
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.801949501037598,
                "transform": {
                    "location": {
                        "x": 2385.241455078125,
                        "y": 2253.104248046875,
                        "z": 362.95050048828125
                    },
                    "rotation": {
                        "roll": 0.003092550439760089,
                        "pitch": 1.232814908027649,
                        "yaw": 90.28530883789062
                    }
                },
                "velocity": {
                    "x": -0.03629846125841141,
                    "y": 7.800129413604736,
                    "z": 0.16456827521324158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002811836893670261,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.158203125,
                        "z": 365.10955810546875
                    },
                    "rotation": {
                        "roll": 0.012789552100002766,
                        "pitch": 1.4085078239440918,
                        "yaw": 90.27323913574219
                    }
                },
                "velocity": {
                    "x": -1.5587233065161854e-05,
                    "y": -0.0001435811718693003,
                    "z": -0.00024125867639668286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011687182122841477,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": -8.137456461554393e-06,
                    "y": -8.843168325256556e-05,
                    "z": 0.0011653393739834428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.474705934524536,
                "transform": {
                    "location": {
                        "x": 2341.69140625,
                        "y": 2298.225341796875,
                        "z": 364.19537353515625
                    },
                    "rotation": {
                        "roll": 0.045097824186086655,
                        "pitch": -1.2498699426651,
                        "yaw": 0.3780063986778259
                    }
                },
                "velocity": {
                    "x": 2.4747018814086914,
                    "y": 0.004283534362912178,
                    "z": -0.0013660620898008347
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8493692874908447,
                "transform": {
                    "location": {
                        "x": 2357.183349609375,
                        "y": 2298.210205078125,
                        "z": 364.12054443359375
                    },
                    "rotation": {
                        "roll": -0.01644897274672985,
                        "pitch": -0.18399162590503693,
                        "yaw": 0.6605549454689026
                    }
                },
                "velocity": {
                    "x": 3.8490676879882812,
                    "y": -0.036754146218299866,
                    "z": -0.03117465414106846
                },
                "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": 0.07622920721769333,
        "expert_target_speed": 5.459227048718393,
        "target_point": [
            15.341195006488638,
            13.73287357845101
        ],
        "target_point_next": [
            15.288175895620546,
            45.73292079256628
        ]
    },
    "65": {
        "acceleration": [
            -3.151555061340332,
            0.17525270581245422,
            0.034290216863155365
        ],
        "angular_velocity": [
            0.0825018435716629,
            0.2146901786327362,
            1.4672154188156128
        ],
        "forward_vector": [
            0.9999049305915833,
            -0.004008763004094362,
            -0.013191912323236465
        ],
        "right_vector": [
            0.004013671539723873,
            0.9999918937683105,
            0.0003456481790635735
        ],
        "location": [
            2370.888427734375,
            2298.056640625,
            364.0127258300781
        ],
        "rotation": [
            -0.01980590634047985,
            -0.755862832069397,
            -0.229705810546875
        ],
        "velocity": [
            3.407419443130493,
            0.00765191437676549,
            -0.025750692933797836
        ],
        "speed": 3.4074280349285955,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.784635066986084,
                "transform": {
                    "location": {
                        "x": 2433.571533203125,
                        "y": 2295.53564453125,
                        "z": 363.3608093261719
                    },
                    "rotation": {
                        "roll": 0.006588006857782602,
                        "pitch": 0.6397905945777893,
                        "yaw": -178.32473754882812
                    }
                },
                "velocity": {
                    "x": -4.782185077667236,
                    "y": -0.1419082134962082,
                    "z": 0.057471863925457
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.253654479980469,
                "transform": {
                    "location": {
                        "x": 2415.93505859375,
                        "y": 2295.107177734375,
                        "z": 363.5715637207031
                    },
                    "rotation": {
                        "roll": 0.0016339628491550684,
                        "pitch": 0.7282347083091736,
                        "yaw": -178.7512664794922
                    }
                },
                "velocity": {
                    "x": -8.251030921936035,
                    "y": -0.18183477222919464,
                    "z": 0.10119834542274475
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.025480270385742,
                "transform": {
                    "location": {
                        "x": 2385.235107421875,
                        "y": 2254.818359375,
                        "z": 362.98565673828125
                    },
                    "rotation": {
                        "roll": 0.0006428058259189129,
                        "pitch": 1.3601570129394531,
                        "yaw": 90.20819854736328
                    }
                },
                "velocity": {
                    "x": -0.016773832961916924,
                    "y": 6.024106979370117,
                    "z": 0.12753280997276306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014156923862174153,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -1.966996023838874e-05,
                    "y": -3.1985491659725085e-05,
                    "z": -0.0014151943614706397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009536876459605992,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": 4.759595321957022e-05,
                    "y": -6.765946454834193e-05,
                    "z": 0.0009500931482762098
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.689314365386963,
                "transform": {
                    "location": {
                        "x": 2342.50048828125,
                        "y": 2298.227783203125,
                        "z": 364.1910095214844
                    },
                    "rotation": {
                        "roll": 0.019780127331614494,
                        "pitch": -0.18283049762248993,
                        "yaw": 0.2889663577079773
                    }
                },
                "velocity": {
                    "x": 3.6893022060394287,
                    "y": 0.009019923396408558,
                    "z": -0.002894926117733121
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.44288116693496704,
                "transform": {
                    "location": {
                        "x": 2357.54931640625,
                        "y": 2298.17236328125,
                        "z": 364.1168212890625
                    },
                    "rotation": {
                        "roll": 0.003843935439363122,
                        "pitch": -0.07085637748241425,
                        "yaw": 3.1153292655944824
                    }
                },
                "velocity": {
                    "x": 0.4428388178348541,
                    "y": 0.005362283438444138,
                    "z": -0.00295645697042346
                },
                "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": 0.07133761048316956,
        "expert_target_speed": 4.603243120064417,
        "target_point": [
            14.422008929939837,
            13.697333262660724
        ],
        "target_point_next": [
            14.440202765203468,
            45.69741922685904
        ]
    },
    "70": {
        "acceleration": [
            -2.7039670944213867,
            0.05023054778575897,
            0.015986934304237366
        ],
        "angular_velocity": [
            -0.0544414259493351,
            -0.07399042695760727,
            0.5625612139701843
        ],
        "forward_vector": [
            0.9999091625213623,
            0.0016934387385845184,
            -0.01337237935513258
        ],
        "right_vector": [
            -0.0016850498504936695,
            0.9999983906745911,
            0.0006385690066963434
        ],
        "location": [
            2371.64404296875,
            2298.062744140625,
            364.0071716308594
        ],
        "rotation": [
            -0.0365905836224556,
            -0.766203761100769,
            0.09703561663627625
        ],
        "velocity": [
            2.684767484664917,
            0.03996172174811363,
            -0.020850270986557007
        ],
        "speed": 2.6850648755512516,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.2277631759643555,
                "transform": {
                    "location": {
                        "x": 2432.30859375,
                        "y": 2295.498291015625,
                        "z": 363.3771057128906
                    },
                    "rotation": {
                        "roll": 0.00604172982275486,
                        "pitch": 0.7708687782287598,
                        "yaw": -178.3075714111328
                    }
                },
                "velocity": {
                    "x": -5.225019454956055,
                    "y": -0.15554186701774597,
                    "z": 0.06699468195438385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.509772300720215,
                "transform": {
                    "location": {
                        "x": 2413.771728515625,
                        "y": 2295.060302734375,
                        "z": 363.59814453125
                    },
                    "rotation": {
                        "roll": 0.0007645338191650808,
                        "pitch": 0.7204346656799316,
                        "yaw": -178.77525329589844
                    }
                },
                "velocity": {
                    "x": -8.507169723510742,
                    "y": -0.18237943947315216,
                    "z": 0.10501552373170853
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.981830596923828,
                "transform": {
                    "location": {
                        "x": 2385.23046875,
                        "y": 2256.2978515625,
                        "z": 363.0179748535156
                    },
                    "rotation": {
                        "roll": 0.0022489922121167183,
                        "pitch": 1.239269495010376,
                        "yaw": 90.2192153930664
                    }
                },
                "velocity": {
                    "x": -0.020387044176459312,
                    "y": 5.980438709259033,
                    "z": 0.1274033486843109
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012685979017987847,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 1.3268563634483144e-05,
                    "y": -4.980802259524353e-05,
                    "z": -0.0012675502803176641
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014660252491012216,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": -1.3390516869549174e-05,
                    "y": -7.640838157385588e-05,
                    "z": 0.0014639714499935508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.666656970977783,
                "transform": {
                    "location": {
                        "x": 2343.30810546875,
                        "y": 2298.230224609375,
                        "z": 364.19049072265625
                    },
                    "rotation": {
                        "roll": 0.005716855637729168,
                        "pitch": -0.30273446440696716,
                        "yaw": 0.22902151942253113
                    }
                },
                "velocity": {
                    "x": 2.6666481494903564,
                    "y": 0.006015124265104532,
                    "z": -0.0032976625952869654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4653773307800293,
                "transform": {
                    "location": {
                        "x": 2357.807373046875,
                        "y": 2298.177490234375,
                        "z": 364.1180725097656
                    },
                    "rotation": {
                        "roll": -0.02255248837172985,
                        "pitch": -0.45672789216041565,
                        "yaw": 2.7807693481445312
                    }
                },
                "velocity": {
                    "x": 1.4652782678604126,
                    "y": 0.013341037556529045,
                    "z": -0.01059381477534771
                },
                "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": 0.06083306670188904,
        "expert_target_speed": 3.882775325133013,
        "target_point": [
            13.744261757004343,
            13.610042342106386
        ],
        "target_point_next": [
            13.944942285331278,
            45.609504213476576
        ]
    },
    "75": {
        "acceleration": [
            -2.2791624069213867,
            -0.0013947486877441406,
            0.010866709053516388
        ],
        "angular_velocity": [
            -0.07773856818675995,
            -0.15212175250053406,
            2.0611562728881836
        ],
        "forward_vector": [
            0.9998924136161804,
            0.00712744751945138,
            -0.012820130214095116
        ],
        "right_vector": [
            -0.007122631650418043,
            0.9999746084213257,
            0.0004212773928884417
        ],
        "location": [
            2372.2333984375,
            2298.0712890625,
            364.0026550292969
        ],
        "rotation": [
            -0.0241394005715847,
            -0.7345594763755798,
            0.4084096848964691
        ],
        "velocity": [
            2.0710055828094482,
            0.0428183451294899,
            -0.016144180670380592
        ],
        "speed": 2.071448173309564,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3578834533691406,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.183349609375,
                        "z": 362.78228759765625
                    },
                    "rotation": {
                        "roll": -3.052877218578942e-05,
                        "pitch": 1.1702914237976074,
                        "yaw": 90.08868408203125
                    }
                },
                "velocity": {
                    "x": 0.0003995201550424099,
                    "y": -0.0018686710391193628,
                    "z": -2.3578827381134033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.623804569244385,
                "transform": {
                    "location": {
                        "x": 2430.939697265625,
                        "y": 2295.457763671875,
                        "z": 363.3944396972656
                    },
                    "rotation": {
                        "roll": 0.006548089440912008,
                        "pitch": 0.7950476408004761,
                        "yaw": -178.32913208007812
                    }
                },
                "velocity": {
                    "x": -5.620908260345459,
                    "y": -0.16691890358924866,
                    "z": 0.06857705861330032
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.119030952453613,
                "transform": {
                    "location": {
                        "x": 2411.70263671875,
                        "y": 2295.01611328125,
                        "z": 363.62347412109375
                    },
                    "rotation": {
                        "roll": 4.411582267493941e-05,
                        "pitch": 0.6764414310455322,
                        "yaw": -178.7938690185547
                    }
                },
                "velocity": {
                    "x": -8.116628646850586,
                    "y": -0.1715654730796814,
                    "z": 0.0978194996714592
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.426987648010254,
                "transform": {
                    "location": {
                        "x": 2385.225341796875,
                        "y": 2257.867431640625,
                        "z": 363.0518798828125
                    },
                    "rotation": {
                        "roll": 0.0004287383344490081,
                        "pitch": 1.1780983209609985,
                        "yaw": 90.15473937988281
                    }
                },
                "velocity": {
                    "x": -0.017209285870194435,
                    "y": 6.42547607421875,
                    "z": 0.13829928636550903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019112919108010828,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -3.6017735283166985e-07,
                    "y": -5.4684875067323446e-05,
                    "z": -0.00018313874898012727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008146478794515133,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": -1.068679807758599e-06,
                    "y": -6.699233927065507e-05,
                    "z": 0.0008118879632093012
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0019791016820818186,
                "transform": {
                    "location": {
                        "x": 2343.6240234375,
                        "y": 2298.23046875,
                        "z": 364.19232177734375
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.9691491723060608,
                        "yaw": 0.21751336753368378
                    }
                },
                "velocity": {
                    "x": 0.0004298588610254228,
                    "y": -0.000459266739198938,
                    "z": -0.0018764697015285492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1822268962860107,
                "transform": {
                    "location": {
                        "x": 2358.287841796875,
                        "y": 2298.185302734375,
                        "z": 364.1148681640625
                    },
                    "rotation": {
                        "roll": -0.02316284365952015,
                        "pitch": -0.5040542483329773,
                        "yaw": 2.2963850498199463
                    }
                },
                "velocity": {
                    "x": 2.1821115016937256,
                    "y": 0.01575438678264618,
                    "z": -0.01598266512155533
                },
                "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": 0.08309290558099747,
        "expert_target_speed": 3.270074901936248,
        "target_point": [
            13.228619367563805,
            13.530806219331712
        ],
        "target_point_next": [
            13.60319375648899,
            45.52870500595339
        ]
    },
    "80": {
        "acceleration": [
            -0.05822420120239258,
            0.13318896293640137,
            0.006278231739997864
        ],
        "angular_velocity": [
            0.1045696884393692,
            -0.6583060622215271,
            0.5738293528556824
        ],
        "forward_vector": [
            0.9998580813407898,
            0.012546236626803875,
            -0.011241437867283821
        ],
        "right_vector": [
            -0.01254053134471178,
            0.9999211430549622,
            0.0005778694176115096
        ],
        "location": [
            2372.700927734375,
            2298.08349609375,
            363.998779296875
        ],
        "rotation": [
            -0.033111572265625,
            -0.6441004872322083,
            0.7189106941223145
        ],
        "velocity": [
            1.7839131355285645,
            0.06355039775371552,
            -0.013193216174840927
        ],
        "speed": 1.7850447412224741,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09495136141777039,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.186279296875,
                        "z": 362.63897705078125
                    },
                    "rotation": {
                        "roll": 0.001445059897378087,
                        "pitch": 1.1959524154663086,
                        "yaw": 90.08882904052734
                    }
                },
                "velocity": {
                    "x": 6.063291584723629e-05,
                    "y": -0.0020039707887917757,
                    "z": 0.09493018686771393
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.7005438804626465,
                "transform": {
                    "location": {
                        "x": 2429.30810546875,
                        "y": 2295.4140625,
                        "z": 363.4148254394531
                    },
                    "rotation": {
                        "roll": 0.016113029792904854,
                        "pitch": 1.0791083574295044,
                        "yaw": -178.4517059326172
                    }
                },
                "velocity": {
                    "x": -7.697361946105957,
                    "y": -0.19935563206672668,
                    "z": 0.09617523103952408
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.90452766418457,
                "transform": {
                    "location": {
                        "x": 2409.706787109375,
                        "y": 2294.97412109375,
                        "z": 363.6473388671875
                    },
                    "rotation": {
                        "roll": -0.00045776416664011776,
                        "pitch": 0.6715987920761108,
                        "yaw": -178.80003356933594
                    }
                },
                "velocity": {
                    "x": -7.90221643447876,
                    "y": -0.1661146730184555,
                    "z": 0.09451278299093246
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.446296215057373,
                "transform": {
                    "location": {
                        "x": 2385.22021484375,
                        "y": 2259.674560546875,
                        "z": 363.0909729003906
                    },
                    "rotation": {
                        "roll": -0.0007324684411287308,
                        "pitch": 1.1368576288223267,
                        "yaw": 90.11185455322266
                    }
                },
                "velocity": {
                    "x": -0.015797974541783333,
                    "y": 7.444570541381836,
                    "z": 0.15951812267303467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009759868844412267,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 2.3041347958496772e-05,
                    "y": -3.6541521694744006e-05,
                    "z": -0.0009750303579494357
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016518211923539639,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": 7.661699783056974e-06,
                    "y": -8.623957546660677e-05,
                    "z": 0.0016495506279170513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0055619478225708,
                "transform": {
                    "location": {
                        "x": 2343.773681640625,
                        "y": 2298.23095703125,
                        "z": 364.18902587890625
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.26519572734832764,
                        "yaw": 0.16224515438079834
                    }
                },
                "velocity": {
                    "x": 1.0055567026138306,
                    "y": 0.0023989693727344275,
                    "z": -0.002181253395974636
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7354501485824585,
                "transform": {
                    "location": {
                        "x": 2358.76416015625,
                        "y": 2298.191162109375,
                        "z": 364.1105041503906
                    },
                    "rotation": {
                        "roll": -0.014465331099927425,
                        "pitch": -0.40628013014793396,
                        "yaw": 1.8768097162246704
                    }
                },
                "velocity": {
                    "x": 1.7353898286819458,
                    "y": 0.00522974319756031,
                    "z": -0.013483266346156597
                },
                "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": 0.10405901074409485,
        "expert_target_speed": 2.9839387666867196,
        "target_point": [
            12.834107585544318,
            13.452577105095504
        ],
        "target_point_next": [
            13.382084190241304,
            45.44797606138966
        ]
    },
    "85": {
        "acceleration": [
            1.6563963890075684,
            0.34124210476875305,
            -0.003277398645877838
        ],
        "angular_velocity": [
            0.2187962681055069,
            -0.756057620048523,
            3.985600471496582
        ],
        "forward_vector": [
            0.9997063875198364,
            0.022905446588993073,
            -0.007900871336460114
        ],
        "right_vector": [
            -0.02289609983563423,
            0.999737024307251,
            0.0012713528703898191
        ],
        "location": [
            2373.173583984375,
            2298.10498046875,
            363.9944152832031
        ],
        "rotation": [
            -0.0728454515337944,
            -0.4526912569999695,
            1.3125412464141846
        ],
        "velocity": [
            2.0423452854156494,
            0.1279895305633545,
            -0.014698848128318787
        ],
        "speed": 2.046351774449681,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9169263243675232,
                "transform": {
                    "location": {
                        "x": 2385.343505859375,
                        "y": 2241.252197265625,
                        "z": 362.6730651855469
                    },
                    "rotation": {
                        "roll": -0.005889927037060261,
                        "pitch": 1.4049766063690186,
                        "yaw": 90.10772705078125
                    }
                },
                "velocity": {
                    "x": -0.010937713086605072,
                    "y": 0.9080818891525269,
                    "z": 0.12657621502876282
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.318499565124512,
                "transform": {
                    "location": {
                        "x": 2427.23681640625,
                        "y": 2295.36083984375,
                        "z": 363.4405517578125
                    },
                    "rotation": {
                        "roll": 0.009805905632674694,
                        "pitch": 0.9043989777565002,
                        "yaw": -178.53761291503906
                    }
                },
                "velocity": {
                    "x": -8.315226554870605,
                    "y": -0.20954591035842896,
                    "z": 0.10263225436210632
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.974592208862305,
                "transform": {
                    "location": {
                        "x": 2407.724853515625,
                        "y": 2294.93310546875,
                        "z": 363.6707763671875
                    },
                    "rotation": {
                        "roll": -0.00027465762104839087,
                        "pitch": 0.6797608733177185,
                        "yaw": -178.8018798828125
                    }
                },
                "velocity": {
                    "x": -7.972297668457031,
                    "y": -0.1670442372560501,
                    "z": 0.09319446235895157
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.540544509887695,
                "transform": {
                    "location": {
                        "x": 2385.21630859375,
                        "y": 2261.427978515625,
                        "z": 363.1273498535156
                    },
                    "rotation": {
                        "roll": 0.0007444662624038756,
                        "pitch": 1.2914589643478394,
                        "yaw": 90.125
                    }
                },
                "velocity": {
                    "x": -0.01463291049003601,
                    "y": 6.539021968841553,
                    "z": 0.1403602808713913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002742991200648248,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -2.5847029974102043e-06,
                    "y": -3.949016172555275e-05,
                    "z": -0.0002714292786549777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015858450205996633,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": -1.3778942957287654e-05,
                    "y": -0.00010723724699346349,
                    "z": 0.001582155004143715
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7784208059310913,
                "transform": {
                    "location": {
                        "x": 2344.13427734375,
                        "y": 2298.230712890625,
                        "z": 364.18682861328125
                    },
                    "rotation": {
                        "roll": 0.0003440040163695812,
                        "pitch": 0.07509109377861023,
                        "yaw": 0.199168860912323
                    }
                },
                "velocity": {
                    "x": 1.7784168720245361,
                    "y": 0.0019764553289860487,
                    "z": -0.003245668252930045
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2084920406341553,
                "transform": {
                    "location": {
                        "x": 2359.265625,
                        "y": 2298.19580078125,
                        "z": 364.107177734375
                    },
                    "rotation": {
                        "roll": -0.013977049849927425,
                        "pitch": -0.4624379277229309,
                        "yaw": 1.5066453218460083
                    }
                },
                "velocity": {
                    "x": 2.2084319591522217,
                    "y": 0.004582440946251154,
                    "z": -0.015657547861337662
                },
                "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": 0.1354949176311493,
        "expert_target_speed": 3.244994232855605,
        "target_point": [
            12.499770259147976,
            13.308234882385586
        ],
        "target_point_next": [
            13.379206820946717,
            45.296239260050285
        ]
    },
    "90": {
        "acceleration": [
            3.255624771118164,
            0.8060029149055481,
            -0.023220330476760864
        ],
        "angular_velocity": [
            0.44314831495285034,
            -0.7338019013404846,
            5.627237319946289
        ],
        "forward_vector": [
            0.9990516304969788,
            0.04329678416252136,
            -0.004605038091540337
        ],
        "right_vector": [
            -0.04328445345163345,
            0.9990590214729309,
            0.002744088415056467
        ],
        "location": [
            2373.76220703125,
            2298.151123046875,
            363.9893798828125
        ],
        "rotation": [
            -0.1572265475988388,
            -0.2638501822948456,
            2.48152494430542
        ],
        "velocity": [
            2.6935877799987793,
            0.2811002731323242,
            -0.01971203275024891
        ],
        "speed": 2.7082157395809183,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.499331051377654,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8095749616622925,
                "transform": {
                    "location": {
                        "x": 2385.339111328125,
                        "y": 2241.609375,
                        "z": 362.6961975097656
                    },
                    "rotation": {
                        "roll": -0.011749179102480412,
                        "pitch": 1.5780194997787476,
                        "yaw": 90.23657989501953
                    }
                },
                "velocity": {
                    "x": -0.025515010580420494,
                    "y": 1.8079338073730469,
                    "z": 0.07270398736000061
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.7961745262146,
                "transform": {
                    "location": {
                        "x": 2425.23828125,
                        "y": 2295.3115234375,
                        "z": 363.46527099609375
                    },
                    "rotation": {
                        "roll": 0.013030949048697948,
                        "pitch": 0.6700005531311035,
                        "yaw": -178.59523010253906
                    }
                },
                "velocity": {
                    "x": -7.793410301208496,
                    "y": -0.18470099568367004,
                    "z": 0.0947316512465477
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00260066986084,
                "transform": {
                    "location": {
                        "x": 2405.726806640625,
                        "y": 2294.89208984375,
                        "z": 363.6936340332031
                    },
                    "rotation": {
                        "roll": -0.0007324215257540345,
                        "pitch": 0.6475701928138733,
                        "yaw": -178.80250549316406
                    }
                },
                "velocity": {
                    "x": -8.000326156616211,
                    "y": -0.16735248267650604,
                    "z": 0.09158959984779358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.902888298034668,
                "transform": {
                    "location": {
                        "x": 2385.213134765625,
                        "y": 2262.951904296875,
                        "z": 363.1601867675781
                    },
                    "rotation": {
                        "roll": 0.0006559707107953727,
                        "pitch": 1.2884740829467773,
                        "yaw": 90.12037658691406
                    }
                },
                "velocity": {
                    "x": -0.012385611422359943,
                    "y": 5.901476860046387,
                    "z": 0.12847286462783813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011936627561226487,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 2.5785460820770822e-05,
                    "y": -2.9281973183969967e-05,
                    "z": -0.001193024916574359
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001381661044433713,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": -1.4044369891053066e-05,
                    "y": -9.499922452960163e-05,
                    "z": 0.0013783196918666363
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8954548835754395,
                "transform": {
                    "location": {
                        "x": 2344.71337890625,
                        "y": 2298.23095703125,
                        "z": 364.18475341796875
                    },
                    "rotation": {
                        "roll": 0.002718517789617181,
                        "pitch": 0.23215128481388092,
                        "yaw": 0.15571077167987823
                    }
                },
                "velocity": {
                    "x": 2.8954455852508545,
                    "y": 0.002579981228336692,
                    "z": -0.006899833679199219
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7554521560668945,
                "transform": {
                    "location": {
                        "x": 2359.74755859375,
                        "y": 2298.19970703125,
                        "z": 364.10308837890625
                    },
                    "rotation": {
                        "roll": -0.00842284969985485,
                        "pitch": -0.40020808577537537,
                        "yaw": 1.2211731672286987
                    }
                },
                "velocity": {
                    "x": 1.7553961277008057,
                    "y": 0.004357874393463135,
                    "z": -0.013330974616110325
                },
                "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": 0.13951830565929413,
        "expert_target_speed": 3.905864443363392,
        "target_point": [
            12.178604498797126,
            13.029840543979892
        ],
        "target_point_next": [
            13.710453442105942,
            44.993245737209975
        ]
    },
    "95": {
        "acceleration": [
            3.4868860244750977,
            1.133584976196289,
            -0.014767162501811981
        ],
        "angular_velocity": [
            0.38868752121925354,
            -0.35140690207481384,
            9.83815860748291
        ],
        "forward_vector": [
            0.9969165325164795,
            0.07844404876232147,
            -0.0019915089942514896
        ],
        "right_vector": [
            -0.07843449711799622,
            0.9969092011451721,
            0.004492196254432201
        ],
        "location": [
            2374.55224609375,
            2298.244873046875,
            363.98284912109375
        ],
        "rotation": [
            -0.25738525390625,
            -0.11410513520240784,
            4.499144077301025
        ],
        "velocity": [
            3.576514720916748,
            0.5259883999824524,
            -0.026572493836283684
        ],
        "speed": 3.614985663298031,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.4911984965096305,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3644089698791504,
                "transform": {
                    "location": {
                        "x": 2440.52734375,
                        "y": 2295.71044921875,
                        "z": 363.3522644042969
                    },
                    "rotation": {
                        "roll": -6.103524356149137e-05,
                        "pitch": 0.7648786902427673,
                        "yaw": -178.81748962402344
                    }
                },
                "velocity": {
                    "x": 0.0011222718749195337,
                    "y": 0.00020362336363177747,
                    "z": -2.3644087314605713
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.912083387374878,
                "transform": {
                    "location": {
                        "x": 2385.331298828125,
                        "y": 2242.1943359375,
                        "z": 362.7127685546875
                    },
                    "rotation": {
                        "roll": -0.009765563532710075,
                        "pitch": 1.6392179727554321,
                        "yaw": 90.42374420166016
                    }
                },
                "velocity": {
                    "x": -0.04342545568943024,
                    "y": 2.9109535217285156,
                    "z": 0.06852185726165771
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.134042739868164,
                "transform": {
                    "location": {
                        "x": 2423.25537109375,
                        "y": 2295.265625,
                        "z": 363.4895324707031
                    },
                    "rotation": {
                        "roll": 0.009165460243821144,
                        "pitch": 0.7523862719535828,
                        "yaw": -178.6728973388672
                    }
                },
                "velocity": {
                    "x": -8.131312370300293,
                    "y": -0.18592441082000732,
                    "z": 0.09918949007987976
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.027345657348633,
                "transform": {
                    "location": {
                        "x": 2403.722900390625,
                        "y": 2294.850341796875,
                        "z": 363.7162170410156
                    },
                    "rotation": {
                        "roll": -0.00015258745406754315,
                        "pitch": 0.628691554069519,
                        "yaw": -178.8040771484375
                    }
                },
                "velocity": {
                    "x": -8.025121688842773,
                    "y": -0.16742408275604248,
                    "z": 0.08761090785264969
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.556407928466797,
                "transform": {
                    "location": {
                        "x": 2385.2109375,
                        "y": 2264.16650390625,
                        "z": 363.18585205078125
                    },
                    "rotation": {
                        "roll": 0.0015261145308613777,
                        "pitch": 1.3461687564849854,
                        "yaw": 90.12102508544922
                    }
                },
                "velocity": {
                    "x": -0.00974437315016985,
                    "y": 4.555352687835693,
                    "z": 0.09757886826992035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005412594764493406,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 3.9226188164320774e-06,
                    "y": -5.098953624838032e-05,
                    "z": -0.0005388380959630013
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016150190494954586,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": -1.6234442227869295e-05,
                    "y": -0.00010367378126829863,
                    "z": 0.001611606334336102
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3705356121063232,
                "transform": {
                    "location": {
                        "x": 2345.560546875,
                        "y": 2298.23095703125,
                        "z": 364.18292236328125
                    },
                    "rotation": {
                        "roll": 0.0020829029381275177,
                        "pitch": 0.15932781994342804,
                        "yaw": 0.11308843642473221
                    }
                },
                "velocity": {
                    "x": 3.370521068572998,
                    "y": 0.0031486153602600098,
                    "z": -0.009418478235602379
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.229135751724243,
                "transform": {
                    "location": {
                        "x": 2360.25390625,
                        "y": 2298.203369140625,
                        "z": 364.0997619628906
                    },
                    "rotation": {
                        "roll": -0.008483885787427425,
                        "pitch": -0.460627943277359,
                        "yaw": 0.985458493232727
                    }
                },
                "velocity": {
                    "x": 2.229071855545044,
                    "y": 0.004302684683352709,
                    "z": -0.01632201112806797
                },
                "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": 0.17358410358428955,
        "expert_target_speed": 4.810022828058586,
        "target_point": [
            11.834834502568468,
            12.561505987661501
        ],
        "target_point_next": [
            14.491062643209109,
            44.451163947517266
        ]
    },
    "100": {
        "acceleration": [
            1.786661148071289,
            1.6261875629425049,
            -0.02455819398164749
        ],
        "angular_velocity": [
            0.6172865033149719,
            0.3702186048030853,
            13.888456344604492
        ],
        "forward_vector": [
            0.9914982914924622,
            0.13010895252227783,
            -0.0016410343814641237
        ],
        "right_vector": [
            -0.1300937384366989,
            0.9914746880531311,
            0.007316160015761852
        ],
        "location": [
            2375.54638671875,
            2298.4150390625,
            363.975341796875
        ],
        "rotation": [
            -0.4191894233226776,
            -0.09402438253164291,
            7.475898742675781
        ],
        "velocity": [
            4.256295680999756,
            0.9075033068656921,
            -0.03159327059984207
        ],
        "speed": 4.351966816977049,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.468372445210959,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.52203369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15185558795928955,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.094741590321064,
                "transform": {
                    "location": {
                        "x": 2440.525146484375,
                        "y": 2295.71044921875,
                        "z": 363.20843505859375
                    },
                    "rotation": {
                        "roll": 0.001042484538629651,
                        "pitch": 0.7850960493087769,
                        "yaw": -178.8175048828125
                    }
                },
                "velocity": {
                    "x": 0.0013009087415412068,
                    "y": -0.00010569763981038705,
                    "z": 0.0947326049208641
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.297712802886963,
                "transform": {
                    "location": {
                        "x": 2385.318115234375,
                        "y": 2243.1064453125,
                        "z": 362.732177734375
                    },
                    "rotation": {
                        "roll": -0.0036926083266735077,
                        "pitch": 1.761594533920288,
                        "yaw": 90.62960815429688
                    }
                },
                "velocity": {
                    "x": -0.06756599247455597,
                    "y": 4.296243667602539,
                    "z": 0.08979007601737976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.058454513549805,
                "transform": {
                    "location": {
                        "x": 2421.21923828125,
                        "y": 2295.21923828125,
                        "z": 363.5145568847656
                    },
                    "rotation": {
                        "roll": 0.00563935237005353,
                        "pitch": 0.7111319303512573,
                        "yaw": -178.70848083496094
                    }
                },
                "velocity": {
                    "x": -8.055813789367676,
                    "y": -0.18067239224910736,
                    "z": 0.0995568260550499
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9775285720825195,
                "transform": {
                    "location": {
                        "x": 2401.723388671875,
                        "y": 2294.809326171875,
                        "z": 363.7380676269531
                    },
                    "rotation": {
                        "roll": 0.0006601792410947382,
                        "pitch": 0.6311640739440918,
                        "yaw": -178.80545043945312
                    }
                },
                "velocity": {
                    "x": -7.975317001342773,
                    "y": -0.16638104617595673,
                    "z": 0.08718124032020569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1180830001831055,
                "transform": {
                    "location": {
                        "x": 2385.20849609375,
                        "y": 2265.40283203125,
                        "z": 363.21417236328125
                    },
                    "rotation": {
                        "roll": 0.00014261169417295605,
                        "pitch": 1.2043125629425049,
                        "yaw": 90.11184692382812
                    }
                },
                "velocity": {
                    "x": -0.007725288160145283,
                    "y": 5.116847515106201,
                    "z": 0.11218640953302383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016088852134998888,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -1.902492658700794e-05,
                    "y": -5.615740883513354e-05,
                    "z": -0.00014956441009417176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007961198571138084,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0008687709923833609,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73822021484375
                    }
                },
                "velocity": {
                    "x": 1.4439341100569436e-07,
                    "y": -6.622150249313563e-05,
                    "z": 0.000793360872194171
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0985026359558105,
                "transform": {
                    "location": {
                        "x": 2346.2431640625,
                        "y": 2298.231201171875,
                        "z": 364.18310546875
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.41873154044151306,
                        "yaw": 0.09099787473678589
                    }
                },
                "velocity": {
                    "x": 2.098491668701172,
                    "y": 0.001754633616656065,
                    "z": -0.006548041943460703
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001863560057245195,
                "transform": {
                    "location": {
                        "x": 2360.6337890625,
                        "y": 2298.204833984375,
                        "z": 364.09521484375
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.2547045648097992,
                        "yaw": 0.8891651630401611
                    }
                },
                "velocity": {
                    "x": 0.0018599849427118897,
                    "y": 7.110217120498419e-05,
                    "z": -9.086760837817565e-05
                },
                "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": 0.25092989206314087,
        "expert_target_speed": 5.522866244975048,
        "target_point": [
            11.463362734749458,
            11.89059295178153
        ],
        "target_point_next": [
            15.77205784304742,
            43.59928228444637
        ]
    },
    "105": {
        "acceleration": [
            0.20303726196289062,
            1.707618236541748,
            -0.0075610727071762085
        ],
        "angular_velocity": [
            0.4149172306060791,
            0.6061460375785828,
            17.350671768188477
        ],
        "forward_vector": [
            0.9801278114318848,
            0.19832707941532135,
            -0.003986228723078966
        ],
        "right_vector": [
            -0.19827885925769806,
            0.9800931811332703,
            0.01013680174946785
        ],
        "location": [
            2376.63623046875,
            2298.682861328125,
            363.9676818847656
        ],
        "rotation": [
            -0.5808104872703552,
            -0.22839468717575073,
            11.439240455627441
        ],
        "velocity": [
            4.402488708496094,
            1.326324701309204,
            -0.03330104425549507
        ],
        "speed": 4.597939108093816,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.428974572357084,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6192679405212402,
                "transform": {
                    "location": {
                        "x": 2330.923095703125,
                        "y": 2298.15380859375,
                        "z": 364.1159362792969
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.15172581374645233,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": 0.0016353523824363947,
                    "y": 8.59932042658329e-05,
                    "z": -0.6192657947540283
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9615917801856995,
                "transform": {
                    "location": {
                        "x": 2440.455322265625,
                        "y": 2295.70849609375,
                        "z": 363.2420959472656
                    },
                    "rotation": {
                        "roll": -0.006011961959302425,
                        "pitch": 1.0085047483444214,
                        "yaw": -178.79562377929688
                    }
                },
                "velocity": {
                    "x": -0.9535510540008545,
                    "y": -0.02755025587975979,
                    "z": 0.12099625915288925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.292905330657959,
                "transform": {
                    "location": {
                        "x": 2385.3056640625,
                        "y": 2244.3388671875,
                        "z": 362.7581481933594
                    },
                    "rotation": {
                        "roll": 0.024401308968663216,
                        "pitch": 1.7389456033706665,
                        "yaw": 90.58219909667969
                    }
                },
                "velocity": {
                    "x": -0.04977286234498024,
                    "y": 5.291537284851074,
                    "z": 0.10955655574798584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.964836597442627,
                "transform": {
                    "location": {
                        "x": 2419.2275390625,
                        "y": 2295.17578125,
                        "z": 363.5390625
                    },
                    "rotation": {
                        "roll": 0.00693237129598856,
                        "pitch": 0.6957367062568665,
                        "yaw": -178.74578857421875
                    }
                },
                "velocity": {
                    "x": -7.9623613357543945,
                    "y": -0.17222806811332703,
                    "z": 0.09881740063428879
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.011213302612305,
                "transform": {
                    "location": {
                        "x": 2399.725830078125,
                        "y": 2294.768310546875,
                        "z": 363.7596740722656
                    },
                    "rotation": {
                        "roll": -0.010742186568677425,
                        "pitch": 0.6119507551193237,
                        "yaw": -178.80706787109375
                    }
                },
                "velocity": {
                    "x": -8.009071350097656,
                    "y": -0.1651219129562378,
                    "z": 0.08389616012573242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.345847129821777,
                "transform": {
                    "location": {
                        "x": 2385.206787109375,
                        "y": 2266.720458984375,
                        "z": 363.24267578125
                    },
                    "rotation": {
                        "roll": 0.0008196483831852674,
                        "pitch": 1.220192790031433,
                        "yaw": 90.14619445800781
                    }
                },
                "velocity": {
                    "x": -0.009157496504485607,
                    "y": 5.344557762145996,
                    "z": 0.11705798655748367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010337478015571833,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 6.054155505808012e-07,
                    "y": -2.5717912649270147e-05,
                    "z": -0.0010334276594221592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012172460556030273,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0014869883889332414,
                        "pitch": 1.4279738664627075,
                        "yaw": 89.73907470703125
                    }
                },
                "velocity": {
                    "x": 3.657022534753196e-05,
                    "y": -7.331251981668174e-05,
                    "z": 0.0012144858483225107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4996015429496765,
                "transform": {
                    "location": {
                        "x": 2346.35107421875,
                        "y": 2298.231201171875,
                        "z": 364.18414306640625
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.7942211627960205,
                        "yaw": 0.07752344012260437
                    }
                },
                "velocity": {
                    "x": 0.4995971918106079,
                    "y": 0.0006351731717586517,
                    "z": -0.0019822788890451193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1539944410324097,
                "transform": {
                    "location": {
                        "x": 2360.809326171875,
                        "y": 2298.20556640625,
                        "z": 364.0954284667969
                    },
                    "rotation": {
                        "roll": -0.006927488837391138,
                        "pitch": -0.44885268807411194,
                        "yaw": 0.8098276257514954
                    }
                },
                "velocity": {
                    "x": 1.1539620161056519,
                    "y": 0.002759321592748165,
                    "z": -0.008209199644625187
                },
                "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": 0.3032538890838623,
        "expert_target_speed": 5.765742661034153,
        "target_point": [
            11.13649128389664,
            11.023475782332273
        ],
        "target_point_next": [
            17.626525345986515,
            42.358524698915076
        ]
    },
    "110": {
        "acceleration": [
            -1.6119861602783203,
            1.1707830429077148,
            0.023018568754196167
        ],
        "angular_velocity": [
            0.051417794078588486,
            0.7149678468704224,
            18.72173500061035
        ],
        "forward_vector": [
            0.9611399173736572,
            0.2759864330291748,
            -0.006446912884712219
        ],
        "right_vector": [
            -0.27589818835258484,
            0.9611123204231262,
            0.011976763606071472
        ],
        "location": [
            2377.724609375,
            2299.04931640625,
            363.9599609375
        ],
        "rotation": [
            -0.6862487196922302,
            -0.36938345432281494,
            16.021150588989258
        ],
        "velocity": [
            4.210433006286621,
            1.6908656358718872,
            -0.032468412071466446
        ],
        "speed": 4.537264891870458,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.368439175137003,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.22972850501537323,
                "transform": {
                    "location": {
                        "x": 2330.923095703125,
                        "y": 2298.15380859375,
                        "z": 364.1374816894531
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.1520058512687683,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": -0.0006117555312812328,
                    "y": -1.611650259292219e-05,
                    "z": 0.22972768545150757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8259046077728271,
                "transform": {
                    "location": {
                        "x": 2440.09716796875,
                        "y": 2295.697998046875,
                        "z": 363.2627258300781
                    },
                    "rotation": {
                        "roll": -0.007781982887536287,
                        "pitch": 1.1627098321914673,
                        "yaw": -178.6915283203125
                    }
                },
                "velocity": {
                    "x": -1.8241149187088013,
                    "y": -0.054647378623485565,
                    "z": 0.059547603130340576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.107329845428467,
                "transform": {
                    "location": {
                        "x": 2385.292724609375,
                        "y": 2245.68798828125,
                        "z": 362.78668212890625
                    },
                    "rotation": {
                        "roll": 0.016807319596409798,
                        "pitch": 1.5598033666610718,
                        "yaw": 90.55044555664062
                    }
                },
                "velocity": {
                    "x": -0.05636018142104149,
                    "y": 6.105774879455566,
                    "z": 0.1257568746805191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.09081745147705,
                "transform": {
                    "location": {
                        "x": 2417.216552734375,
                        "y": 2295.1328125,
                        "z": 363.5638122558594
                    },
                    "rotation": {
                        "roll": 0.003061522264033556,
                        "pitch": 0.7264862060546875,
                        "yaw": -178.7650146484375
                    }
                },
                "velocity": {
                    "x": -8.088329315185547,
                    "y": -0.17426574230194092,
                    "z": 0.09942907094955444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9841628074646,
                "transform": {
                    "location": {
                        "x": 2397.72705078125,
                        "y": 2294.72705078125,
                        "z": 363.7805480957031
                    },
                    "rotation": {
                        "roll": -0.010375972837209702,
                        "pitch": 0.5781140327453613,
                        "yaw": -178.8273162841797
                    }
                },
                "velocity": {
                    "x": -7.98208475112915,
                    "y": -0.16285352408885956,
                    "z": 0.0815863385796547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.867345333099365,
                "transform": {
                    "location": {
                        "x": 2385.204345703125,
                        "y": 2267.984130859375,
                        "z": 363.26953125
                    },
                    "rotation": {
                        "roll": 0.001772231189534068,
                        "pitch": 1.2731881141662598,
                        "yaw": 90.13124084472656
                    }
                },
                "velocity": {
                    "x": -0.011600782163441181,
                    "y": 4.866215705871582,
                    "z": 0.10420604795217514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013969943393021822,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 8.707988854439463e-06,
                    "y": -5.188718205317855e-05,
                    "z": -0.00012941338354721665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007141284877434373,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": -8.92092884896556e-06,
                    "y": -6.294131162576377e-05,
                    "z": 0.000711293425410986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3375656604766846,
                "transform": {
                    "location": {
                        "x": 2346.587158203125,
                        "y": 2298.231201171875,
                        "z": 364.1809387207031
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.1835954785346985,
                        "yaw": 0.052154529839754105
                    }
                },
                "velocity": {
                    "x": 1.3375593423843384,
                    "y": 0.0007324733887799084,
                    "z": -0.004043025895953178
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.074692964553833,
                "transform": {
                    "location": {
                        "x": 2361.21630859375,
                        "y": 2298.20703125,
                        "z": 364.09283447265625
                    },
                    "rotation": {
                        "roll": -0.0072936988435685635,
                        "pitch": -0.5121138691902161,
                        "yaw": 0.6952922344207764
                    }
                },
                "velocity": {
                    "x": 2.074634552001953,
                    "y": 0.004419394768774509,
                    "z": -0.014926699921488762
                },
                "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": 0.37779515981674194,
        "expert_target_speed": 5.70516792328341,
        "target_point": [
            10.834257397134692,
            10.046778547931659
        ],
        "target_point_next": [
            19.806725537750104,
            40.763234206053504
        ]
    },
    "115": {
        "acceleration": [
            -2.8128528594970703,
            0.31481504440307617,
            0.021346770226955414
        ],
        "angular_velocity": [
            -0.31786417961120605,
            0.5419292449951172,
            18.422077178955078
        ],
        "forward_vector": [
            0.935437798500061,
            0.35336464643478394,
            -0.009462572634220123
        ],
        "right_vector": [
            -0.3532443940639496,
            0.9354497790336609,
            0.012334363535046577
        ],
        "location": [
            2378.706787109375,
            2299.48095703125,
            363.9530334472656
        ],
        "rotation": [
            -0.7067565321922302,
            -0.5421735644340515,
            20.6942195892334
        ],
        "velocity": [
            3.598606824874878,
            1.8565911054611206,
            -0.028354667127132416
        ],
        "speed": 4.0493087821149665,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.307036937932727,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23967576026916504,
                "transform": {
                    "location": {
                        "x": 2330.927001953125,
                        "y": 2298.15380859375,
                        "z": 364.1672668457031
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.15438275039196014,
                        "yaw": -0.0440063513815403
                    }
                },
                "velocity": {
                    "x": 0.23681186139583588,
                    "y": 0.0018976967548951507,
                    "z": 0.03689190000295639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9478344917297363,
                "transform": {
                    "location": {
                        "x": 2439.50537109375,
                        "y": 2295.6806640625,
                        "z": 363.275146484375
                    },
                    "rotation": {
                        "roll": -0.007110595703125,
                        "pitch": 1.2204113006591797,
                        "yaw": -178.55755615234375
                    }
                },
                "velocity": {
                    "x": -2.946057081222534,
                    "y": -0.08972079306840897,
                    "z": 0.0492553785443306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.452373504638672,
                "transform": {
                    "location": {
                        "x": 2385.277099609375,
                        "y": 2247.395263671875,
                        "z": 362.8211975097656
                    },
                    "rotation": {
                        "roll": 0.014119444414973259,
                        "pitch": 1.7757465839385986,
                        "yaw": 90.53208923339844
                    }
                },
                "velocity": {
                    "x": -0.06780930608510971,
                    "y": 7.450459003448486,
                    "z": 0.1547173410654068
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012593269348145,
                "transform": {
                    "location": {
                        "x": 2415.20361328125,
                        "y": 2295.08984375,
                        "z": 363.5885009765625
                    },
                    "rotation": {
                        "roll": 0.003783734980970621,
                        "pitch": 0.7023756504058838,
                        "yaw": -178.7743682861328
                    }
                },
                "velocity": {
                    "x": -8.010174751281738,
                    "y": -0.16982398927211761,
                    "z": 0.09950444847345352
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016526222229004,
                "transform": {
                    "location": {
                        "x": 2395.72705078125,
                        "y": 2294.685791015625,
                        "z": 363.8005676269531
                    },
                    "rotation": {
                        "roll": -0.014404293149709702,
                        "pitch": 0.5724108219146729,
                        "yaw": -178.8394775390625
                    }
                },
                "velocity": {
                    "x": -8.014495849609375,
                    "y": -0.16170606017112732,
                    "z": 0.0799955353140831
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.681075572967529,
                "transform": {
                    "location": {
                        "x": 2385.2021484375,
                        "y": 2269.17578125,
                        "z": 363.2957458496094
                    },
                    "rotation": {
                        "roll": 0.00039630182436667383,
                        "pitch": 1.271132230758667,
                        "yaw": 90.12047576904297
                    }
                },
                "velocity": {
                    "x": -0.00836880598217249,
                    "y": 4.679941177368164,
                    "z": 0.10270135849714279
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008881493122316897,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -2.1149358872207813e-05,
                    "y": -3.476202255114913e-05,
                    "z": -0.0008872167090885341
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015189689584076405,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": 2.030349787673913e-05,
                    "y": -8.580073335906491e-05,
                    "z": 0.0015164078213274479
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.215803623199463,
                "transform": {
                    "location": {
                        "x": 2347.034423828125,
                        "y": 2298.2314453125,
                        "z": 364.1783752441406
                    },
                    "rotation": {
                        "roll": 0.0002929033653344959,
                        "pitch": 0.06434720754623413,
                        "yaw": 0.006112970877438784
                    }
                },
                "velocity": {
                    "x": 2.215789794921875,
                    "y": 0.0012205395614728332,
                    "z": -0.00778415659442544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9531562328338623,
                "transform": {
                    "location": {
                        "x": 2361.846435546875,
                        "y": 2298.210205078125,
                        "z": 364.0882873535156
                    },
                    "rotation": {
                        "roll": -0.006317138206213713,
                        "pitch": -0.5187391638755798,
                        "yaw": 0.5421978235244751
                    }
                },
                "velocity": {
                    "x": 2.9530699253082275,
                    "y": 0.005997743457555771,
                    "z": -0.021781710907816887
                },
                "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": 0.45807501673698425,
        "expert_target_speed": 5.221531358223884,
        "target_point": [
            10.545416614251618,
            9.074000253287881
        ],
        "target_point_next": [
            21.990541682920792,
            38.95735590311818
        ]
    },
    "120": {
        "acceleration": [
            -2.8078174591064453,
            -0.06660938262939453,
            0.032990463078022
        ],
        "angular_velocity": [
            -0.2679845690727234,
            0.0917273536324501,
            18.081954956054688
        ],
        "forward_vector": [
            0.9040817022323608,
            0.4272104501724243,
            -0.011288879439234734
        ],
        "right_vector": [
            -0.42708534002304077,
            0.9041324853897095,
            0.01193843875080347
        ],
        "location": [
            2379.517333984375,
            2299.93359375,
            363.94720458984375
        ],
        "rotation": [
            -0.68408203125,
            -0.6468188762664795,
            25.292381286621094
        ],
        "velocity": [
            2.876095771789551,
            1.8738502264022827,
            -0.021723879501223564
        ],
        "speed": 3.432672655452835,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.2466989952353926,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4122551679611206,
                "transform": {
                    "location": {
                        "x": 2331.16943359375,
                        "y": 2298.156005859375,
                        "z": 364.16943359375
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.18591773509979248,
                        "yaw": 0.01887991651892662
                    }
                },
                "velocity": {
                    "x": 1.4121592044830322,
                    "y": 0.01641324907541275,
                    "z": 0.0012013721279799938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.339054584503174,
                "transform": {
                    "location": {
                        "x": 2438.58349609375,
                        "y": 2295.653076171875,
                        "z": 363.2881164550781
                    },
                    "rotation": {
                        "roll": -0.005249025300145149,
                        "pitch": 1.331436038017273,
                        "yaw": -178.41415405273438
                    }
                },
                "velocity": {
                    "x": -4.336575984954834,
                    "y": -0.13412587344646454,
                    "z": 0.05929582566022873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.432682037353516,
                "transform": {
                    "location": {
                        "x": 2385.261474609375,
                        "y": 2249.373046875,
                        "z": 362.86273193359375
                    },
                    "rotation": {
                        "roll": 0.03170205280184746,
                        "pitch": 1.6752541065216064,
                        "yaw": 90.43563842773438
                    }
                },
                "velocity": {
                    "x": -0.052089814096689224,
                    "y": 8.430672645568848,
                    "z": 0.17654593288898468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029406547546387,
                "transform": {
                    "location": {
                        "x": 2413.201904296875,
                        "y": 2295.046875,
                        "z": 363.613037109375
                    },
                    "rotation": {
                        "roll": 0.000978456693701446,
                        "pitch": 0.707832932472229,
                        "yaw": -178.78463745117188
                    }
                },
                "velocity": {
                    "x": -8.02700138092041,
                    "y": -0.17019209265708923,
                    "z": 0.09819665551185608
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.983872413635254,
                "transform": {
                    "location": {
                        "x": 2393.727783203125,
                        "y": 2294.647705078125,
                        "z": 363.8203125
                    },
                    "rotation": {
                        "roll": -0.005340576171875,
                        "pitch": 0.5599251985549927,
                        "yaw": -178.9415740966797
                    }
                },
                "velocity": {
                    "x": -7.982339859008789,
                    "y": -0.13570287823677063,
                    "z": 0.07779721915721893
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.462131500244141,
                "transform": {
                    "location": {
                        "x": 2385.2001953125,
                        "y": 2270.315185546875,
                        "z": 363.32080078125
                    },
                    "rotation": {
                        "roll": -6.111335824243724e-05,
                        "pitch": 1.2771633863449097,
                        "yaw": 90.1163330078125
                    }
                },
                "velocity": {
                    "x": -0.00914537813514471,
                    "y": 4.461036205291748,
                    "z": 0.0984315276145935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006645614048466086,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 8.672056537761819e-06,
                    "y": -3.0853450880385935e-05,
                    "z": -0.0006637881742790341
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013009445974603295,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": 2.2109406927484088e-05,
                    "y": -8.38106861920096e-05,
                    "z": 0.001298053888604045
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4753670692443848,
                "transform": {
                    "location": {
                        "x": 2347.740478515625,
                        "y": 2298.2314453125,
                        "z": 364.1747131347656
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.2161959707736969,
                        "yaw": 0.01690978929400444
                    }
                },
                "velocity": {
                    "x": 3.475321054458618,
                    "y": 0.002265943679958582,
                    "z": -0.017768505960702896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.0611186027526855,
                "transform": {
                    "location": {
                        "x": 2362.725341796875,
                        "y": 2298.213623046875,
                        "z": 364.081787109375
                    },
                    "rotation": {
                        "roll": -0.004913330543786287,
                        "pitch": -0.5346671938896179,
                        "yaw": 0.3916390538215637
                    }
                },
                "velocity": {
                    "x": 4.060997009277344,
                    "y": 0.007800518535077572,
                    "z": -0.03042345494031906
                },
                "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": 0.4770306944847107,
        "expert_target_speed": 4.609278590347077,
        "target_point": [
            10.312682200314889,
            8.136447774349934
        ],
        "target_point_next": [
            24.116636553246398,
            37.006097528960865
        ]
    },
    "125": {
        "acceleration": [
            -1.8913698196411133,
            -0.39568185806274414,
            0.040201954543590546
        ],
        "angular_velocity": [
            0.6548782587051392,
            -0.3582151234149933,
            16.69105339050293
        ],
        "forward_vector": [
            0.8689916133880615,
            0.4947304427623749,
            -0.009762966074049473
        ],
        "right_vector": [
            -0.49459537863731384,
            0.8690194487571716,
            0.013436200097203255
        ],
        "location": [
            2380.170166015625,
            2300.382568359375,
            363.9437561035156
        ],
        "rotation": [
            -0.7698974609375,
            -0.5593856573104858,
            29.653533935546875
        ],
        "velocity": [
            2.3454573154449463,
            1.8278781175613403,
            -0.005791692528873682
        ],
        "speed": 2.973601928845521,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.190352127301229,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9300686120986938,
                "transform": {
                    "location": {
                        "x": 2331.5869140625,
                        "y": 2298.15966796875,
                        "z": 364.1701354980469
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.17331604659557343,
                        "yaw": 0.16098469495773315
                    }
                },
                "velocity": {
                    "x": 1.9299261569976807,
                    "y": 0.023280085995793343,
                    "z": 0.0028539560735225677
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.479356288909912,
                "transform": {
                    "location": {
                        "x": 2437.338134765625,
                        "y": 2295.614501953125,
                        "z": 363.3051452636719
                    },
                    "rotation": {
                        "roll": -6.1034148529870436e-05,
                        "pitch": 1.3126120567321777,
                        "yaw": -178.32809448242188
                    }
                },
                "velocity": {
                    "x": -5.476200580596924,
                    "y": -0.17126615345478058,
                    "z": 0.07240850478410721
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.399234771728516,
                "transform": {
                    "location": {
                        "x": 2385.248779296875,
                        "y": 2251.533203125,
                        "z": 362.90869140625
                    },
                    "rotation": {
                        "roll": 0.02379831299185753,
                        "pitch": 1.4471120834350586,
                        "yaw": 90.31790161132812
                    }
                },
                "velocity": {
                    "x": -0.04342520236968994,
                    "y": 8.397263526916504,
                    "z": 0.1766943633556366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050347328186035,
                "transform": {
                    "location": {
                        "x": 2411.190185546875,
                        "y": 2295.00390625,
                        "z": 363.6374206542969
                    },
                    "rotation": {
                        "roll": 0.0002824638213496655,
                        "pitch": 0.6934964060783386,
                        "yaw": -178.7936553955078
                    }
                },
                "velocity": {
                    "x": -8.047994613647461,
                    "y": -0.16937728226184845,
                    "z": 0.0958307608962059
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0159330368042,
                "transform": {
                    "location": {
                        "x": 2391.72802734375,
                        "y": 2294.6142578125,
                        "z": 363.8394775390625
                    },
                    "rotation": {
                        "roll": 0.002301038708537817,
                        "pitch": 0.5360810160636902,
                        "yaw": -179.1006622314453
                    }
                },
                "velocity": {
                    "x": -8.014632225036621,
                    "y": -0.12314504384994507,
                    "z": 0.0754590779542923
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2549333572387695,
                "transform": {
                    "location": {
                        "x": 2385.197998046875,
                        "y": 2271.404052734375,
                        "z": 363.3447265625
                    },
                    "rotation": {
                        "roll": 0.0009721039677970111,
                        "pitch": 1.2807697057724,
                        "yaw": 90.11106872558594
                    }
                },
                "velocity": {
                    "x": -0.008421335369348526,
                    "y": 4.253851413726807,
                    "z": 0.09559152275323868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000174539556610398,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -1.865558988356497e-05,
                    "y": -4.9355476221535355e-05,
                    "z": -0.00016637325461488217
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.830581188201904,
                "transform": {
                    "location": {
                        "x": 2348.7900390625,
                        "y": 2298.2314453125,
                        "z": 364.1690673828125
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.2750926911830902,
                        "yaw": 0.026606552302837372
                    }
                },
                "velocity": {
                    "x": 4.830513000488281,
                    "y": 0.0005183998146094382,
                    "z": -0.025665516033768654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.158474922180176,
                "transform": {
                    "location": {
                        "x": 2363.885009765625,
                        "y": 2298.216552734375,
                        "z": 364.0732421875
                    },
                    "rotation": {
                        "roll": -0.005828857421875,
                        "pitch": -0.5398239493370056,
                        "yaw": 0.259488970041275
                    }
                },
                "velocity": {
                    "x": 5.158360481262207,
                    "y": 0.0018369787139818072,
                    "z": -0.034324683248996735
                },
                "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": 0.47776487469673157,
        "expert_target_speed": 4.152595308895228,
        "target_point": [
            10.1120746346757,
            7.261503547583263
        ],
        "target_point_next": [
            26.07138404879938,
            34.99787453868423
        ]
    },
    "130": {
        "acceleration": [
            -0.8099126815795898,
            0.4860854148864746,
            0.11953392624855042
        ],
        "angular_velocity": [
            3.375335216522217,
            0.08599654585123062,
            15.757185935974121
        ],
        "forward_vector": [
            0.8323546051979065,
            0.5542231202125549,
            -0.004743081051856279
        ],
        "right_vector": [
            -0.5540298819541931,
            0.8322409987449646,
            0.02063300833106041
        ],
        "location": [
            2380.70654296875,
            2300.8193359375,
            363.9446716308594
        ],
        "rotation": [
            -1.182281494140625,
            -0.2717595398426056,
            33.65765380859375
        ],
        "velocity": [
            1.9700112342834473,
            1.7815821170806885,
            0.01904836669564247
        ],
        "speed": 2.6561210633374186,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.137970581048916,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4928247928619385,
                "transform": {
                    "location": {
                        "x": 2332.142822265625,
                        "y": 2298.1650390625,
                        "z": 364.1714782714844
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.17126014828681946,
                        "yaw": 0.314414381980896
                    }
                },
                "velocity": {
                    "x": 2.4926228523254395,
                    "y": 0.031105654314160347,
                    "z": 0.006245765369385481
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.071957111358643,
                "transform": {
                    "location": {
                        "x": 2435.94775390625,
                        "y": 2295.5712890625,
                        "z": 363.323974609375
                    },
                    "rotation": {
                        "roll": 0.0026106457225978374,
                        "pitch": 1.0983831882476807,
                        "yaw": -178.23023986816406
                    }
                },
                "velocity": {
                    "x": -6.068394660949707,
                    "y": -0.19249849021434784,
                    "z": 0.07869718223810196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.70489501953125,
                "transform": {
                    "location": {
                        "x": 2385.239013671875,
                        "y": 2253.548583984375,
                        "z": 362.9523010253906
                    },
                    "rotation": {
                        "roll": 0.019989244639873505,
                        "pitch": 1.1315710544586182,
                        "yaw": 90.2666015625
                    }
                },
                "velocity": {
                    "x": -0.029431065544486046,
                    "y": 7.703125476837158,
                    "z": 0.16247545182704926
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020756721496582,
                "transform": {
                    "location": {
                        "x": 2409.18310546875,
                        "y": 2294.96240234375,
                        "z": 363.6612548828125
                    },
                    "rotation": {
                        "roll": 0.0005331223364919424,
                        "pitch": 0.6825339198112488,
                        "yaw": -178.80453491210938
                    }
                },
                "velocity": {
                    "x": -8.018464088439941,
                    "y": -0.1663772165775299,
                    "z": 0.09535408020019531
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9845452308654785,
                "transform": {
                    "location": {
                        "x": 2389.728271484375,
                        "y": 2294.584228515625,
                        "z": 363.8578796386719
                    },
                    "rotation": {
                        "roll": 0.002386525273323059,
                        "pitch": 0.5219084024429321,
                        "yaw": -179.2080841064453
                    }
                },
                "velocity": {
                    "x": -7.983571529388428,
                    "y": -0.10190507024526596,
                    "z": 0.07184593379497528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.067083358764648,
                "transform": {
                    "location": {
                        "x": 2385.1962890625,
                        "y": 2272.443115234375,
                        "z": 363.3677673339844
                    },
                    "rotation": {
                        "roll": -0.00027466329629532993,
                        "pitch": 1.278454303741455,
                        "yaw": 90.111572265625
                    }
                },
                "velocity": {
                    "x": -0.007816002704203129,
                    "y": 4.066065788269043,
                    "z": 0.09063371270895004
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013650294858962297,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -1.3719425624003634e-05,
                    "y": -2.2142379748402163e-05,
                    "z": -0.0013647809391841292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010741715086624026,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": -4.916057878290303e-05,
                    "y": -6.667777779512107e-05,
                    "z": 0.0010709722992032766
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.39135217666626,
                "transform": {
                    "location": {
                        "x": 2350.109375,
                        "y": 2298.2314453125,
                        "z": 364.16339111328125
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": 0.042695511132478714,
                        "yaw": 0.02865767478942871
                    }
                },
                "velocity": {
                    "x": 5.3912811279296875,
                    "y": 0.00255245016887784,
                    "z": -0.02753819338977337
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.637317657470703,
                "transform": {
                    "location": {
                        "x": 2365.21728515625,
                        "y": 2298.217041015625,
                        "z": 364.0628967285156
                    },
                    "rotation": {
                        "roll": -0.0037536618765443563,
                        "pitch": -0.4871768653392792,
                        "yaw": 0.15346716344356537
                    }
                },
                "velocity": {
                    "x": 5.637157440185547,
                    "y": 0.0016271836357191205,
                    "z": -0.04244794324040413
                },
                "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": 0.45793068408966064,
        "expert_target_speed": 3.8364629121132983,
        "target_point": [
            9.90591691887086,
            6.471399689856862
        ],
        "target_point_next": [
            27.76304320876542,
            33.025662500156834
        ]
    },
    "135": {
        "acceleration": [
            0.09521961212158203,
            1.4894437789916992,
            0.5002857446670532
        ],
        "angular_velocity": [
            2.4630486965179443,
            -3.5792696475982666,
            16.231101989746094
        ],
        "forward_vector": [
            0.7917146682739258,
            0.6108505129814148,
            0.007033408619463444
        ],
        "right_vector": [
            -0.6107257604598999,
            0.7911801934242249,
            0.03237171843647957
        ],
        "location": [
            2381.203125,
            2301.28662109375,
            363.9518127441406
        ],
        "rotation": [
            -1.855133056640625,
            0.4029879570007324,
            37.652122497558594
        ],
        "velocity": [
            1.9564517736434937,
            2.033519983291626,
            0.07800167053937912
        ],
        "speed": 2.8218623398456466,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0848795748694684,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0549063682556152,
                "transform": {
                    "location": {
                        "x": 2332.838134765625,
                        "y": 2298.172607421875,
                        "z": 364.17333984375
                    },
                    "rotation": {
                        "roll": 0.0012678743805736303,
                        "pitch": 0.17135578393936157,
                        "yaw": 0.4477429986000061
                    }
                },
                "velocity": {
                    "x": 3.0546481609344482,
                    "y": 0.03919340670108795,
                    "z": 0.006399993784725666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.621346473693848,
                "transform": {
                    "location": {
                        "x": 2434.19970703125,
                        "y": 2295.5224609375,
                        "z": 363.34576416015625
                    },
                    "rotation": {
                        "roll": 0.029642483219504356,
                        "pitch": 1.3341134786605835,
                        "yaw": -178.39297485351562
                    }
                },
                "velocity": {
                    "x": -7.618009567260742,
                    "y": -0.20339742302894592,
                    "z": 0.09735684841871262
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.746064186096191,
                "transform": {
                    "location": {
                        "x": 2385.232666015625,
                        "y": 2255.31103515625,
                        "z": 362.9904479980469
                    },
                    "rotation": {
                        "roll": 0.013365738093852997,
                        "pitch": 0.90652996301651,
                        "yaw": 90.20507049560547
                    }
                },
                "velocity": {
                    "x": -0.021725470200181007,
                    "y": 6.744544506072998,
                    "z": 0.14153285324573517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042744636535645,
                "transform": {
                    "location": {
                        "x": 2407.17578125,
                        "y": 2294.921630859375,
                        "z": 363.6849060058594
                    },
                    "rotation": {
                        "roll": 0.00011372997687431052,
                        "pitch": 0.6796037554740906,
                        "yaw": -178.80657958984375
                    }
                },
                "velocity": {
                    "x": -8.040474891662598,
                    "y": -0.16752545535564423,
                    "z": 0.09186231344938278
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01759147644043,
                "transform": {
                    "location": {
                        "x": 2387.728271484375,
                        "y": 2294.561279296875,
                        "z": 363.8758850097656
                    },
                    "rotation": {
                        "roll": 0.0032279719598591328,
                        "pitch": 0.5058369636535645,
                        "yaw": -179.43667602539062
                    }
                },
                "velocity": {
                    "x": -8.016976356506348,
                    "y": -0.06969437748193741,
                    "z": 0.07068107277154922
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8810269832611084,
                "transform": {
                    "location": {
                        "x": 2385.1962890625,
                        "y": 2273.4345703125,
                        "z": 363.3896484375
                    },
                    "rotation": {
                        "roll": -0.014740017242729664,
                        "pitch": 1.278946042060852,
                        "yaw": 90.02824401855469
                    }
                },
                "velocity": {
                    "x": 0.06448273360729218,
                    "y": 3.879517078399658,
                    "z": 0.08695413172245026
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001159318198915571,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 7.850327392588952e-07,
                    "y": -5.753159348387271e-05,
                    "z": -0.00010064634989248589
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007926448597572744,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": -4.551840902422555e-05,
                    "y": -5.318939656717703e-05,
                    "z": 0.0007895472226664424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.697109699249268,
                "transform": {
                    "location": {
                        "x": 2351.584228515625,
                        "y": 2298.2314453125,
                        "z": 364.1540222167969
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.1042628288269043,
                        "yaw": 0.022407053038477898
                    }
                },
                "velocity": {
                    "x": 6.696950912475586,
                    "y": 0.002573299454525113,
                    "z": -0.04599494859576225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.403441429138184,
                "transform": {
                    "location": {
                        "x": 2366.68115234375,
                        "y": 2298.2177734375,
                        "z": 364.05181884765625
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.48947182297706604,
                        "yaw": 0.09772920608520508
                    }
                },
                "velocity": {
                    "x": 6.403256893157959,
                    "y": 0.003303851932287216,
                    "z": -0.04850147292017937
                },
                "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": 0.4268384873867035,
        "expert_target_speed": 4.001865465728277,
        "target_point": [
            9.65404568347987,
            5.699005248662536
        ],
        "target_point_next": [
            29.31758110795643,
            30.944820888924177
        ]
    },
    "140": {
        "acceleration": [
            0.5012083053588867,
            2.28548526763916,
            0.19526392221450806
        ],
        "angular_velocity": [
            2.8930954933166504,
            -4.582225799560547,
            19.021841049194336
        ],
        "forward_vector": [
            0.7422245740890503,
            0.6694881916046143,
            0.029802557080984116
        ],
        "right_vector": [
            -0.6701422333717346,
            0.74170982837677,
            0.02785452827811241
        ],
        "location": [
            2381.7275390625,
            2301.853271484375,
            363.9748229980469
        ],
        "rotation": [
            -1.59686279296875,
            1.7078136205673218,
            42.05052947998047
        ],
        "velocity": [
            2.0832223892211914,
            2.551058053970337,
            0.13232111930847168
        ],
        "speed": 3.293586603944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.034084736126606,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.183349609375,
                        "z": 363.04595947265625
                    },
                    "rotation": {
                        "roll": 1.0674393990939279e-07,
                        "pitch": 1.1696629524230957,
                        "yaw": 90.0888442993164
                    }
                },
                "velocity": {
                    "x": -4.634429558864062e-12,
                    "y": 2.9887168295772426e-09,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.744673490524292,
                "transform": {
                    "location": {
                        "x": 2333.687255859375,
                        "y": 2298.18212890625,
                        "z": 364.1755065917969
                    },
                    "rotation": {
                        "roll": 0.0022861394099891186,
                        "pitch": 0.17453864216804504,
                        "yaw": 0.5552651882171631
                    }
                },
                "velocity": {
                    "x": 3.7445125579833984,
                    "y": 0.03323793038725853,
                    "z": 0.009985627606511116
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.404568672180176,
                "transform": {
                    "location": {
                        "x": 2432.154541015625,
                        "y": 2295.468505859375,
                        "z": 363.3722229003906
                    },
                    "rotation": {
                        "roll": 0.018650321289896965,
                        "pitch": 1.2157257795333862,
                        "yaw": -178.4673614501953
                    }
                },
                "velocity": {
                    "x": -8.401013374328613,
                    "y": -0.21956536173820496,
                    "z": 0.10743371397256851
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.185768127441406,
                "transform": {
                    "location": {
                        "x": 2385.2275390625,
                        "y": 2257.046142578125,
                        "z": 363.0260925292969
                    },
                    "rotation": {
                        "roll": 0.008649975061416626,
                        "pitch": 1.214154839515686,
                        "yaw": 90.17837524414062
                    }
                },
                "velocity": {
                    "x": -0.020395899191498756,
                    "y": 7.1841044425964355,
                    "z": 0.15326394140720367
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.028509140014648,
                "transform": {
                    "location": {
                        "x": 2405.16748046875,
                        "y": 2294.868408203125,
                        "z": 363.7077941894531
                    },
                    "rotation": {
                        "roll": -0.1040649265050888,
                        "pitch": 0.641402542591095,
                        "yaw": -178.3304901123047
                    }
                },
                "velocity": {
                    "x": -8.02087116241455,
                    "y": -0.33802351355552673,
                    "z": 0.09126611799001694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.985293388366699,
                "transform": {
                    "location": {
                        "x": 2385.728515625,
                        "y": 2294.54443359375,
                        "z": 363.893310546875
                    },
                    "rotation": {
                        "roll": 0.0029208913911134005,
                        "pitch": 0.48906201124191284,
                        "yaw": -179.6272430419922
                    }
                },
                "velocity": {
                    "x": -7.984825134277344,
                    "y": -0.053992632776498795,
                    "z": 0.0675463080406189
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7052440643310547,
                "transform": {
                    "location": {
                        "x": 2385.20751953125,
                        "y": 2274.382080078125,
                        "z": 363.41064453125
                    },
                    "rotation": {
                        "roll": -0.012664783746004105,
                        "pitch": 1.2799500226974487,
                        "yaw": 89.71253967285156
                    }
                },
                "velocity": {
                    "x": 0.05276268720626831,
                    "y": 3.703925132751465,
                    "z": 0.08359081298112869
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007035384769551456,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -5.607784032690688e-07,
                    "y": -3.483667751424946e-05,
                    "z": -0.0007026752573437989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012432136572897434,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": -3.120620021945797e-05,
                    "y": -8.598342537879944e-05,
                    "z": 0.0012398440157994628
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.944580078125,
                "transform": {
                    "location": {
                        "x": 2353.447509765625,
                        "y": 2298.2314453125,
                        "z": 364.14056396484375
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.1626131385564804,
                        "yaw": 0.024172194302082062
                    }
                },
                "velocity": {
                    "x": 7.94437837600708,
                    "y": 0.003387562930583954,
                    "z": -0.05653081834316254
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.251284599304199,
                "transform": {
                    "location": {
                        "x": 2368.45849609375,
                        "y": 2298.21875,
                        "z": 364.0386657714844
                    },
                    "rotation": {
                        "roll": 0.00039961133734323084,
                        "pitch": -0.514101505279541,
                        "yaw": 0.05335332080721855
                    }
                },
                "velocity": {
                    "x": 7.2510809898376465,
                    "y": 0.0033466031309217215,
                    "z": -0.05426013469696045
                },
                "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": 0.3806963562965393,
        "expert_target_speed": 4.471602729943021,
        "target_point": [
            9.293733957330014,
            4.87232236812293
        ],
        "target_point_next": [
            30.83547675042397,
            28.535778374545753
        ]
    },
    "145": {
        "acceleration": [
            -0.3547811508178711,
            0.88653564453125,
            -0.34386441111564636
        ],
        "angular_velocity": [
            1.9483798742294312,
            -0.40245458483695984,
            20.569711685180664
        ],
        "forward_vector": [
            0.6807849407196045,
            0.7310185432434082,
            0.046299465000629425
        ],
        "right_vector": [
            -0.7322897911071777,
            0.6806969046592712,
            0.02008235640823841
        ],
        "location": [
            2382.269287109375,
            2302.54443359375,
            363.9986877441406
        ],
        "rotation": [
            -1.1519471406936646,
            2.653712749481201,
            47.03779220581055
        ],
        "velocity": [
            2.0529117584228516,
            2.9619157314300537,
            0.07003427296876907
        ],
        "speed": 3.6038023652752704,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.966973925248872,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6182910799980164,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.185546875,
                        "z": 362.64019775390625
                    },
                    "rotation": {
                        "roll": -0.000946020008996129,
                        "pitch": 1.1751408576965332,
                        "yaw": 90.08888244628906
                    }
                },
                "velocity": {
                    "x": -1.275520753551973e-05,
                    "y": 0.012512829154729843,
                    "z": -0.6181644201278687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.637756824493408,
                "transform": {
                    "location": {
                        "x": 2334.73583984375,
                        "y": 2298.190673828125,
                        "z": 364.17822265625
                    },
                    "rotation": {
                        "roll": 0.00291186454705894,
                        "pitch": 0.18102732300758362,
                        "yaw": 0.4845598340034485
                    }
                },
                "velocity": {
                    "x": 4.637641906738281,
                    "y": 0.030629834160208702,
                    "z": 0.011328601278364658
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.852705478668213,
                "transform": {
                    "location": {
                        "x": 2430.128173828125,
                        "y": 2295.41650390625,
                        "z": 363.39935302734375
                    },
                    "rotation": {
                        "roll": 0.023409387096762657,
                        "pitch": 0.7606986165046692,
                        "yaw": -178.56590270996094
                    }
                },
                "velocity": {
                    "x": -7.849823951721191,
                    "y": -0.18849654495716095,
                    "z": 0.0985819399356842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.715450763702393,
                "transform": {
                    "location": {
                        "x": 2385.22265625,
                        "y": 2258.800537109375,
                        "z": 363.06378173828125
                    },
                    "rotation": {
                        "roll": 0.0070844050496816635,
                        "pitch": 1.1575803756713867,
                        "yaw": 90.15971374511719
                    }
                },
                "velocity": {
                    "x": -0.016814759001135826,
                    "y": 6.713902950286865,
                    "z": 0.14319653809070587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037370681762695,
                "transform": {
                    "location": {
                        "x": 2403.162841796875,
                        "y": 2294.7626953125,
                        "z": 363.7301025390625
                    },
                    "rotation": {
                        "roll": -0.0841979831457138,
                        "pitch": 0.6368126273155212,
                        "yaw": -176.93231201171875
                    }
                },
                "velocity": {
                    "x": -8.02265453338623,
                    "y": -0.4781317412853241,
                    "z": 0.0879778265953064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.017472267150879,
                "transform": {
                    "location": {
                        "x": 2383.728271484375,
                        "y": 2294.5322265625,
                        "z": 363.9100646972656
                    },
                    "rotation": {
                        "roll": 0.004165343474596739,
                        "pitch": 0.4732159674167633,
                        "yaw": -179.75779724121094
                    }
                },
                "velocity": {
                    "x": -8.017131805419922,
                    "y": -0.03051500953733921,
                    "z": 0.06733032315969467
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1669294834136963,
                "transform": {
                    "location": {
                        "x": 2385.218505859375,
                        "y": 2275.264892578125,
                        "z": 363.4300842285156
                    },
                    "rotation": {
                        "roll": -0.01287837140262127,
                        "pitch": 1.3084728717803955,
                        "yaw": 89.51386260986328
                    }
                },
                "velocity": {
                    "x": 0.046551261097192764,
                    "y": 3.1658098697662354,
                    "z": 0.0701732262969017
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010217811213806272,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -5.5306973081314936e-05,
                    "y": -4.3223797547398135e-05,
                    "z": -0.0010193671332672238
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011755098821595311,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": -6.456030678236857e-05,
                    "y": -5.1413921028142795e-05,
                    "z": 0.0011726090451702476
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.309314727783203,
                "transform": {
                    "location": {
                        "x": 2355.357666015625,
                        "y": 2298.2314453125,
                        "z": 364.128662109375
                    },
                    "rotation": {
                        "roll": 0.0031167648267000914,
                        "pitch": -0.3748475909233093,
                        "yaw": 0.0010240125702694058
                    }
                },
                "velocity": {
                    "x": 7.309098243713379,
                    "y": -0.001460698083974421,
                    "z": -0.05624232068657875
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.873016357421875,
                "transform": {
                    "location": {
                        "x": 2370.337158203125,
                        "y": 2298.21923828125,
                        "z": 364.0242614746094
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.4863572418689728,
                        "yaw": 0.009168197400867939
                    }
                },
                "velocity": {
                    "x": 7.872802734375,
                    "y": -0.002209830330684781,
                    "z": -0.057997822761535645
                },
                "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": 0.27952277660369873,
        "expert_target_speed": 4.776684717710719,
        "target_point": [
            8.807117791385265,
            3.9713417860040554
        ],
        "target_point_next": [
            32.324482255778605,
            25.67248003681047
        ]
    },
    "150": {
        "acceleration": [
            -1.203305721282959,
            0.8758831024169922,
            0.3833533823490143
        ],
        "angular_velocity": [
            -2.91813325881958,
            0.37152817845344543,
            20.125446319580078
        ],
        "forward_vector": [
            0.613314688205719,
            0.7885739207267761,
            0.044679541140794754
        ],
        "right_vector": [
            -0.7897859811782837,
            0.6129452586174011,
            0.02315812185406685
        ],
        "location": [
            2382.767333984375,
            2303.301513671875,
            364.01806640625
        ],
        "rotation": [
            -1.3283079862594604,
            2.5608017444610596,
            52.12594985961914
        ],
        "velocity": [
            1.826343059539795,
            3.1737992763519287,
            0.11971641331911087
        ],
        "speed": 3.66176607905273,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.9010069767516606,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.22929739952087402,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.18505859375,
                        "z": 362.66168212890625
                    },
                    "rotation": {
                        "roll": -0.001281784032471478,
                        "pitch": 1.175755500793457,
                        "yaw": 90.08894348144531
                    }
                },
                "velocity": {
                    "x": 1.5636835541954497e-06,
                    "y": -0.004689409397542477,
                    "z": 0.22924944758415222
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.218989849090576,
                "transform": {
                    "location": {
                        "x": 2336.00439453125,
                        "y": 2298.19921875,
                        "z": 364.181640625
                    },
                    "rotation": {
                        "roll": 0.0016988522838801146,
                        "pitch": 0.1615612804889679,
                        "yaw": 0.3963638246059418
                    }
                },
                "velocity": {
                    "x": 5.218875408172607,
                    "y": 0.03310585767030716,
                    "z": 0.009963931515812874
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00944709777832,
                "transform": {
                    "location": {
                        "x": 2428.166748046875,
                        "y": 2295.370361328125,
                        "z": 363.42388916015625
                    },
                    "rotation": {
                        "roll": 0.018441705033183098,
                        "pitch": 0.7484316229820251,
                        "yaw": -178.63583374023438
                    }
                },
                "velocity": {
                    "x": -8.006667137145996,
                    "y": -0.18604527413845062,
                    "z": 0.09954705834388733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.157120227813721,
                "transform": {
                    "location": {
                        "x": 2385.218994140625,
                        "y": 2260.3955078125,
                        "z": 363.0982971191406
                    },
                    "rotation": {
                        "roll": 0.0037111686542630196,
                        "pitch": 1.0434547662734985,
                        "yaw": 90.13614654541016
                    }
                },
                "velocity": {
                    "x": -0.01450080145150423,
                    "y": 6.15566873550415,
                    "z": 0.132894366979599
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035384178161621,
                "transform": {
                    "location": {
                        "x": 2401.15771484375,
                        "y": 2294.634521484375,
                        "z": 363.75201416015625
                    },
                    "rotation": {
                        "roll": -0.0315856896340847,
                        "pitch": 0.6327008605003357,
                        "yaw": -176.31126403808594
                    }
                },
                "velocity": {
                    "x": -8.016925811767578,
                    "y": -0.5373210310935974,
                    "z": 0.08710780739784241
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986549377441406,
                "transform": {
                    "location": {
                        "x": 2381.728271484375,
                        "y": 2294.525634765625,
                        "z": 363.92626953125
                    },
                    "rotation": {
                        "roll": 0.00216199760325253,
                        "pitch": 0.45607221126556396,
                        "yaw": -179.88670349121094
                    }
                },
                "velocity": {
                    "x": -7.986273765563965,
                    "y": -0.016939563676714897,
                    "z": 0.06417600810527802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9483717679977417,
                "transform": {
                    "location": {
                        "x": 2385.22705078125,
                        "y": 2275.893310546875,
                        "z": 363.4434814453125
                    },
                    "rotation": {
                        "roll": -0.012817282229661942,
                        "pitch": 1.3744115829467773,
                        "yaw": 89.42948913574219
                    }
                },
                "velocity": {
                    "x": 0.02885361574590206,
                    "y": 1.9476821422576904,
                    "z": 0.04306165501475334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.282098860945553e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -1.3382604038270074e-06,
                    "y": -5.8320907555753365e-05,
                    "z": -5.878942829440348e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011485188733786345,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0013096153270453215,
                        "pitch": 1.4281787872314453,
                        "yaw": 89.73917388916016
                    }
                },
                "velocity": {
                    "x": 1.602470365469344e-05,
                    "y": -7.373019616352394e-05,
                    "z": 0.0011460378300398588
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.222861289978027,
                "transform": {
                    "location": {
                        "x": 2357.142333984375,
                        "y": 2298.2314453125,
                        "z": 364.1153869628906
                    },
                    "rotation": {
                        "roll": 0.0006984183564782143,
                        "pitch": -0.4812004566192627,
                        "yaw": -0.008911131881177425
                    }
                },
                "velocity": {
                    "x": 7.222646236419678,
                    "y": -0.0011960986303165555,
                    "z": -0.05572936311364174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.19349479675293,
                "transform": {
                    "location": {
                        "x": 2372.36865234375,
                        "y": 2298.21923828125,
                        "z": 364.0089111328125
                    },
                    "rotation": {
                        "roll": 0.00031891875551082194,
                        "pitch": -0.47213679552078247,
                        "yaw": -0.014312744140625
                    }
                },
                "velocity": {
                    "x": 8.193272590637207,
                    "y": -0.0022631601896137,
                    "z": -0.060257695615291595
                },
                "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": 0.1905631273984909,
        "expert_target_speed": 4.834454953504246,
        "target_point": [
            8.22124826012382,
            3.1029531727448214
        ],
        "target_point_next": [
            33.570572926556345,
            22.632867962305973
        ]
    },
    "155": {
        "acceleration": [
            -1.0086750984191895,
            0.32735347747802734,
            0.05390048027038574
        ],
        "angular_velocity": [
            -4.064828872680664,
            0.34903135895729065,
            19.40424156188965
        ],
        "forward_vector": [
            0.5433807373046875,
            0.8389872312545776,
            0.02894485741853714
        ],
        "right_vector": [
            -0.839484691619873,
            0.5431254506111145,
            0.016737626865506172
        ],
        "location": [
            2383.199462890625,
            2304.0947265625,
            364.05804443359375
        ],
        "rotation": [
            -0.9594420790672302,
            1.6586499214172363,
            57.070377349853516
        ],
        "velocity": [
            1.5525954961776733,
            3.3132781982421875,
            0.15509472787380219
        ],
        "speed": 3.659011504996697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.837121639239946,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23585280776023865,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.1884765625,
                        "z": 362.6914367675781
                    },
                    "rotation": {
                        "roll": 0.0007328524952754378,
                        "pitch": 1.177237629890442,
                        "yaw": 90.09024810791016
                    }
                },
                "velocity": {
                    "x": -0.0026662107557058334,
                    "y": 0.23203304409980774,
                    "z": 0.04219130426645279
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.883606910705566,
                "transform": {
                    "location": {
                        "x": 2337.375,
                        "y": 2298.207763671875,
                        "z": 364.1843566894531
                    },
                    "rotation": {
                        "roll": 0.0012545553036034107,
                        "pitch": 0.11925509572029114,
                        "yaw": 0.3275435268878937
                    }
                },
                "velocity": {
                    "x": 5.883492469787598,
                    "y": 0.035260215401649475,
                    "z": 0.010198192670941353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.123483657836914,
                "transform": {
                    "location": {
                        "x": 2426.1318359375,
                        "y": 2295.322998046875,
                        "z": 363.448974609375
                    },
                    "rotation": {
                        "roll": 0.010606353171169758,
                        "pitch": 0.7792357206344604,
                        "yaw": -178.6984405517578
                    }
                },
                "velocity": {
                    "x": -8.120770454406738,
                    "y": -0.18459069728851318,
                    "z": 0.10002855211496353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.1023993492126465,
                "transform": {
                    "location": {
                        "x": 2385.215576171875,
                        "y": 2261.92333984375,
                        "z": 363.1307678222656
                    },
                    "rotation": {
                        "roll": 0.0043884324841201305,
                        "pitch": 1.1538920402526855,
                        "yaw": 90.12574005126953
                    }
                },
                "velocity": {
                    "x": -0.0123137217015028,
                    "y": 6.100993633270264,
                    "z": 0.13038954138755798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021232604980469,
                "transform": {
                    "location": {
                        "x": 2399.156494140625,
                        "y": 2294.480224609375,
                        "z": 363.7735595703125
                    },
                    "rotation": {
                        "roll": -0.1729431003332138,
                        "pitch": 0.6043146252632141,
                        "yaw": -175.36293029785156
                    }
                },
                "velocity": {
                    "x": -7.97846794128418,
                    "y": -0.8228333592414856,
                    "z": 0.08463943004608154
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01842975616455,
                "transform": {
                    "location": {
                        "x": 2379.727783203125,
                        "y": 2294.521728515625,
                        "z": 363.942138671875
                    },
                    "rotation": {
                        "roll": 0.0015140288742259145,
                        "pitch": 0.44447454810142517,
                        "yaw": -179.95782470703125
                    }
                },
                "velocity": {
                    "x": -8.018171310424805,
                    "y": -0.0071707735769450665,
                    "z": 0.06399428844451904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001194740179926157,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00927734375,
                        "z": 363.4455261230469
                    },
                    "rotation": {
                        "roll": -0.012054375372827053,
                        "pitch": 1.436320424079895,
                        "yaw": 89.50886535644531
                    }
                },
                "velocity": {
                    "x": 0.00016799196600914001,
                    "y": -0.0011728535173460841,
                    "z": 0.0001536140771349892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006771067273803055,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 4.718080163002014e-06,
                    "y": -5.050033360021189e-05,
                    "z": -0.0006752043846063316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013198088854551315,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.000761482457164675,
                        "pitch": 1.4282197952270508,
                        "yaw": 89.73974609375
                    }
                },
                "velocity": {
                    "x": -2.3860413875809172e-06,
                    "y": -8.551582141080871e-05,
                    "z": 0.0013170333113521338
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.112656593322754,
                "transform": {
                    "location": {
                        "x": 2359.068359375,
                        "y": 2298.231201171875,
                        "z": 364.0997619628906
                    },
                    "rotation": {
                        "roll": 0.003121953457593918,
                        "pitch": -0.20892181992530823,
                        "yaw": -0.02032470703125
                    }
                },
                "velocity": {
                    "x": 8.1124267578125,
                    "y": -0.004213539883494377,
                    "z": -0.06097421422600746
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995420932769775,
                "transform": {
                    "location": {
                        "x": 2374.39111328125,
                        "y": 2298.21923828125,
                        "z": 363.9933166503906
                    },
                    "rotation": {
                        "roll": 0.001491150469519198,
                        "pitch": -0.4136020839214325,
                        "yaw": -0.02029418759047985
                    }
                },
                "velocity": {
                    "x": 7.995192527770996,
                    "y": -0.002767418511211872,
                    "z": -0.060371674597263336
                },
                "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": 0.06385302543640137,
        "expert_target_speed": 4.8319659737956275,
        "target_point": [
            7.557415268545899,
            2.314320933201069
        ],
        "target_point_next": [
            34.49569479030774,
            19.586695672626764
        ]
    },
    "160": {
        "acceleration": [
            -1.0650134086608887,
            0.5410146713256836,
            -0.1887492835521698
        ],
        "angular_velocity": [
            0.46212711930274963,
            0.5589579939842224,
            19.119348526000977
        ],
        "forward_vector": [
            0.47146469354629517,
            0.8816066980361938,
            0.022152993828058243
        ],
        "right_vector": [
            -0.8818820714950562,
            0.47125062346458435,
            0.014381305314600468
        ],
        "location": [
            2383.56494140625,
            2304.92333984375,
            364.0904541015625
        ],
        "rotation": [
            -0.8242188096046448,
            1.2693768739700317,
            61.863067626953125
        ],
        "velocity": [
            1.2862762212753296,
            3.420823335647583,
            0.09138568490743637
        ],
        "speed": 3.6546598762578983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.7756448492196752,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2440.52734375,
                        "y": 2295.71044921875,
                        "z": 363.55230712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7638199925422668,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": -4.327672886716982e-09,
                    "y": -8.933648959486007e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.347630262374878,
                "transform": {
                    "location": {
                        "x": 2385.34130859375,
                        "y": 2241.42724609375,
                        "z": 362.6979675292969
                    },
                    "rotation": {
                        "roll": 5.3692972869612277e-05,
                        "pitch": 1.2091004848480225,
                        "yaw": 90.1593017578125
                    }
                },
                "velocity": {
                    "x": -0.019768355414271355,
                    "y": 1.347260594367981,
                    "z": 0.02460704743862152
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.9944610595703125,
                "transform": {
                    "location": {
                        "x": 2338.999267578125,
                        "y": 2298.2177734375,
                        "z": 364.1871337890625
                    },
                    "rotation": {
                        "roll": 0.0009624260710552335,
                        "pitch": 0.10806041955947876,
                        "yaw": 0.2837512195110321
                    }
                },
                "velocity": {
                    "x": 6.994378089904785,
                    "y": 0.03272286057472229,
                    "z": 0.0093271154910326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.922329425811768,
                "transform": {
                    "location": {
                        "x": 2424.135498046875,
                        "y": 2295.278564453125,
                        "z": 363.4738464355469
                    },
                    "rotation": {
                        "roll": 0.012893175706267357,
                        "pitch": 0.6794125437736511,
                        "yaw": -178.71710205078125
                    }
                },
                "velocity": {
                    "x": -7.919820308685303,
                    "y": -0.1737099289894104,
                    "z": 0.0978473648428917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.7678375244140625,
                "transform": {
                    "location": {
                        "x": 2385.212646484375,
                        "y": 2263.415771484375,
                        "z": 363.16302490234375
                    },
                    "rotation": {
                        "roll": 0.0022572933230549097,
                        "pitch": 1.143517017364502,
                        "yaw": 90.12004852294922
                    }
                },
                "velocity": {
                    "x": -0.011240149848163128,
                    "y": 5.766480445861816,
                    "z": 0.12460145354270935
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.991207122802734,
                "transform": {
                    "location": {
                        "x": 2397.185791015625,
                        "y": 2294.1416015625,
                        "z": 363.7940673828125
                    },
                    "rotation": {
                        "roll": -0.5621947646141052,
                        "pitch": 0.5707237720489502,
                        "yaw": -169.67259216308594
                    }
                },
                "velocity": {
                    "x": -7.760352611541748,
                    "y": -1.9052265882492065,
                    "z": 0.08018630743026733
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986499309539795,
                "transform": {
                    "location": {
                        "x": 2377.72705078125,
                        "y": 2294.5205078125,
                        "z": 363.95745849609375
                    },
                    "rotation": {
                        "roll": 0.00018631979764904827,
                        "pitch": 0.4369886517524719,
                        "yaw": 179.9932403564453
                    }
                },
                "velocity": {
                    "x": -7.986268520355225,
                    "y": -0.00025373566313646734,
                    "z": 0.060718782246112823
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004716356925200671,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.44671630859375
                    },
                    "rotation": {
                        "roll": -0.013671896420419216,
                        "pitch": 1.2891912460327148,
                        "yaw": 89.50891876220703
                    }
                },
                "velocity": {
                    "x": 5.1236734179838095e-06,
                    "y": -0.00032457499764859676,
                    "z": -0.00034214771585538983
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.1148165918421e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 3.458825085544959e-05,
                    "y": -6.20834543951787e-05,
                    "z": 3.917043432011269e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009829082991927862,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.000761482457164675,
                        "pitch": 1.4282197952270508,
                        "yaw": 89.73974609375
                    }
                },
                "velocity": {
                    "x": -1.4827372069703415e-05,
                    "y": -7.130309677449986e-05,
                    "z": 0.0009802065324038267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.665943622589111,
                "transform": {
                    "location": {
                        "x": 2361.054931640625,
                        "y": 2298.229248046875,
                        "z": 364.0856628417969
                    },
                    "rotation": {
                        "roll": 0.0012612068094313145,
                        "pitch": -0.42794546484947205,
                        "yaw": -0.02978515625
                    }
                },
                "velocity": {
                    "x": 7.66572380065918,
                    "y": -0.003947538789361715,
                    "z": -0.05793357640504837
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.991122722625732,
                "transform": {
                    "location": {
                        "x": 2376.382568359375,
                        "y": 2298.218994140625,
                        "z": 363.9784240722656
                    },
                    "rotation": {
                        "roll": 0.002023196080699563,
                        "pitch": -0.4313332438468933,
                        "yaw": -0.009552001953125
                    }
                },
                "velocity": {
                    "x": 7.990893840789795,
                    "y": 0.001954823499545455,
                    "z": -0.06044984981417656
                },
                "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": -0.06806603074073792,
        "expert_target_speed": 4.824339534305137,
        "target_point": [
            35.10850883188626,
            16.56762737320783
        ],
        "target_point_next": [
            35.10850883188626,
            16.56762737320783
        ]
    },
    "165": {
        "acceleration": [
            -0.8672714233398438,
            0.7125568389892578,
            -0.03417849540710449
        ],
        "angular_velocity": [
            0.22976472973823547,
            -0.2784123718738556,
            18.522722244262695
        ],
        "forward_vector": [
            0.39775350689888,
            0.9172039031982422,
            0.023004885762929916
        ],
        "right_vector": [
            -0.9174774289131165,
            0.39747920632362366,
            0.015667378902435303
        ],
        "location": [
            2383.8681640625,
            2305.7900390625,
            364.11187744140625
        ],
        "rotation": [
            -0.8979490995407104,
            1.3181991577148438,
            66.55561065673828
        ],
        "velocity": [
            1.0410161018371582,
            3.5752358436584473,
            0.08188755065202713
        ],
        "speed": 3.723711302190915,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.716971418613631,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.03888275474309921,
                "transform": {
                    "location": {
                        "x": 2440.52587890625,
                        "y": 2295.71044921875,
                        "z": 363.2224426269531
                    },
                    "rotation": {
                        "roll": 0.00019219536625314504,
                        "pitch": 0.7826644778251648,
                        "yaw": -178.8175048828125
                    }
                },
                "velocity": {
                    "x": -0.0005424959817901254,
                    "y": 0.00017154197848867625,
                    "z": -0.03887858986854553
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8986166715621948,
                "transform": {
                    "location": {
                        "x": 2385.33642578125,
                        "y": 2241.843994140625,
                        "z": 362.7059020996094
                    },
                    "rotation": {
                        "roll": 0.00348992389626801,
                        "pitch": 1.199196696281433,
                        "yaw": 90.32166290283203
                    }
                },
                "velocity": {
                    "x": -0.02974061109125614,
                    "y": 1.8980038166046143,
                    "z": 0.03797883912920952
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.675936222076416,
                "transform": {
                    "location": {
                        "x": 2340.861572265625,
                        "y": 2298.225341796875,
                        "z": 364.18798828125
                    },
                    "rotation": {
                        "roll": 0.00133398303296417,
                        "pitch": 0.02846139669418335,
                        "yaw": 0.19312511384487152
                    }
                },
                "velocity": {
                    "x": 7.675903797149658,
                    "y": 0.02217583917081356,
                    "z": -0.0030797289218753576
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.070924758911133,
                "transform": {
                    "location": {
                        "x": 2422.13720703125,
                        "y": 2295.2353515625,
                        "z": 363.4981689453125
                    },
                    "rotation": {
                        "roll": 0.0061616613529622555,
                        "pitch": 0.7388420104980469,
                        "yaw": -178.76937866210938
                    }
                },
                "velocity": {
                    "x": -8.068414688110352,
                    "y": -0.17516419291496277,
                    "z": 0.09914381057024002
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9906203746795654,
                "transform": {
                    "location": {
                        "x": 2385.210693359375,
                        "y": 2264.384521484375,
                        "z": 363.1878356933594
                    },
                    "rotation": {
                        "roll": 0.0015253052115440369,
                        "pitch": 0.03548965975642204,
                        "yaw": 90.11294555664062
                    }
                },
                "velocity": {
                    "x": -0.002185170305892825,
                    "y": 0.9904164671897888,
                    "z": 0.01998128928244114
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030755043029785,
                "transform": {
                    "location": {
                        "x": 2395.29736328125,
                        "y": 2293.488525390625,
                        "z": 363.8131408691406
                    },
                    "rotation": {
                        "roll": -0.771270751953125,
                        "pitch": 0.5362107753753662,
                        "yaw": -160.0803985595703
                    }
                },
                "velocity": {
                    "x": -7.349027156829834,
                    "y": -3.2372119426727295,
                    "z": 0.07271991670131683
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018972396850586,
                "transform": {
                    "location": {
                        "x": 2375.726318359375,
                        "y": 2294.520263671875,
                        "z": 363.97259521484375
                    },
                    "rotation": {
                        "roll": 0.00044456569594331086,
                        "pitch": 0.4306502342224121,
                        "yaw": 179.97128295898438
                    }
                },
                "velocity": {
                    "x": -8.018743515014648,
                    "y": 0.0022365350741893053,
                    "z": 0.060557879507541656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013622223923448473,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.44683837890625
                    },
                    "rotation": {
                        "roll": -0.012817352078855038,
                        "pitch": 1.2743083238601685,
                        "yaw": 89.50897216796875
                    }
                },
                "velocity": {
                    "x": 7.743399805804074e-07,
                    "y": -0.00011886507127201185,
                    "z": 6.6535641963128e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011076709488406777,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 1.9033368516829796e-05,
                    "y": -4.9434005632065237e-05,
                    "z": -0.001106403535231948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009618694894015789,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.000761482457164675,
                        "pitch": 1.4282197952270508,
                        "yaw": 89.73974609375
                    }
                },
                "velocity": {
                    "x": 2.4265544197987765e-05,
                    "y": -6.944611232029274e-05,
                    "z": 0.000959052296821028
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.614660263061523,
                "transform": {
                    "location": {
                        "x": 2362.936279296875,
                        "y": 2298.227783203125,
                        "z": 364.07171630859375
                    },
                    "rotation": {
                        "roll": 0.00022325251484289765,
                        "pitch": -0.4894103407859802,
                        "yaw": -0.0322265625
                    }
                },
                "velocity": {
                    "x": 7.614448070526123,
                    "y": -0.0031148388516157866,
                    "z": -0.056751955300569534
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.101961135864258,
                "transform": {
                    "location": {
                        "x": 2378.3994140625,
                        "y": 2298.21923828125,
                        "z": 363.9630432128906
                    },
                    "rotation": {
                        "roll": 0.0010535247856751084,
                        "pitch": -0.44335439801216125,
                        "yaw": 0.0160262119024992
                    }
                },
                "velocity": {
                    "x": 8.101728439331055,
                    "y": 0.004132252186536789,
                    "z": -0.061354655772447586
                },
                "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": -0.22235721349716187,
        "expert_target_speed": 4.891185057833047,
        "target_point": [
            35.430414611008835,
            13.57327388589308
        ],
        "target_point_next": [
            35.430414611008835,
            13.57327388589308
        ]
    },
    "170": {
        "acceleration": [
            -0.8054840564727783,
            1.1049795150756836,
            0.10436207056045532
        ],
        "angular_velocity": [
            0.15306609869003296,
            -0.05174129456281662,
            18.077877044677734
        ],
        "forward_vector": [
            0.32304635643959045,
            0.9460713863372803,
            0.02428876794874668
        ],
        "right_vector": [
            -0.9463598132133484,
            0.32275158166885376,
            0.015317111276090145
        ],
        "location": [
            2384.114013671875,
            2306.708740234375,
            364.1328125
        ],
        "rotation": [
            -0.8778992295265198,
            1.3917807340621948,
            71.14697265625
        ],
        "velocity": [
            0.823262095451355,
            3.8219499588012695,
            0.09218551218509674
        ],
        "speed": 3.9096114852230497,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.6613122527963116,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.33199170231819153,
                "transform": {
                    "location": {
                        "x": 2440.520751953125,
                        "y": 2295.710205078125,
                        "z": 363.25311279296875
                    },
                    "rotation": {
                        "roll": -0.00033569312654435635,
                        "pitch": 0.7980392575263977,
                        "yaw": -178.80609130859375
                    }
                },
                "velocity": {
                    "x": -0.3146657347679138,
                    "y": -0.00871456041932106,
                    "z": 0.10548942536115646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.394277811050415,
                "transform": {
                    "location": {
                        "x": 2385.329345703125,
                        "y": 2242.382080078125,
                        "z": 362.7169189453125
                    },
                    "rotation": {
                        "roll": 0.006283004768192768,
                        "pitch": 1.1947365999221802,
                        "yaw": 90.47370147705078
                    }
                },
                "velocity": {
                    "x": -0.038079507648944855,
                    "y": 2.3934686183929443,
                    "z": 0.049229755997657776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.667015075683594,
                "transform": {
                    "location": {
                        "x": 2342.998291015625,
                        "y": 2298.23193359375,
                        "z": 364.1876525878906
                    },
                    "rotation": {
                        "roll": 6.114391726441681e-05,
                        "pitch": -0.05667007714509964,
                        "yaw": 0.11597848683595657
                    }
                },
                "velocity": {
                    "x": 8.666987419128418,
                    "y": 0.019603481516242027,
                    "z": -0.0103853028267622
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023676872253418,
                "transform": {
                    "location": {
                        "x": 2420.12158203125,
                        "y": 2295.1923828125,
                        "z": 363.52294921875
                    },
                    "rotation": {
                        "roll": 0.00567635940387845,
                        "pitch": 0.7232077121734619,
                        "yaw": -178.75628662109375
                    }
                },
                "velocity": {
                    "x": -8.021244049072266,
                    "y": -0.17080968618392944,
                    "z": 0.09932839870452881
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8046269416809082,
                "transform": {
                    "location": {
                        "x": 2385.21044921875,
                        "y": 2264.483154296875,
                        "z": 363.1883544921875
                    },
                    "rotation": {
                        "roll": 0.0017816702602431178,
                        "pitch": 0.46310046315193176,
                        "yaw": 90.12014770507812
                    }
                },
                "velocity": {
                    "x": -0.001479301368817687,
                    "y": 0.8044147491455078,
                    "z": 0.0184172336012125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046768188476562,
                "transform": {
                    "location": {
                        "x": 2393.566162109375,
                        "y": 2292.486572265625,
                        "z": 363.8283386230469
                    },
                    "rotation": {
                        "roll": -0.6160582900047302,
                        "pitch": 0.373795747756958,
                        "yaw": -148.97943115234375
                    }
                },
                "velocity": {
                    "x": -6.586033821105957,
                    "y": -4.623225212097168,
                    "z": 0.02065838687121868
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986537456512451,
                "transform": {
                    "location": {
                        "x": 2373.7255859375,
                        "y": 2294.521240234375,
                        "z": 363.98760986328125
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.43107369542121887,
                        "yaw": 179.96267700195312
                    }
                },
                "velocity": {
                    "x": -7.986308574676514,
                    "y": 0.004392446484416723,
                    "z": 0.060283295810222626
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003057241556234658,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.4468688964844
                    },
                    "rotation": {
                        "roll": -0.01315315905958414,
                        "pitch": 1.2700941562652588,
                        "yaw": 89.50897979736328
                    }
                },
                "velocity": {
                    "x": 2.7267182304058224e-05,
                    "y": -5.329534178599715e-05,
                    "z": -0.0002998055424541235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007638489478267729,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -2.417384894215502e-05,
                    "y": -4.0947496017906815e-05,
                    "z": -0.0007623674464412034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001296871225349605,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.000761482457164675,
                        "pitch": 1.4282197952270508,
                        "yaw": 89.73974609375
                    }
                },
                "velocity": {
                    "x": 2.5871351681416854e-05,
                    "y": -7.802933396305889e-05,
                    "z": 0.0012942631728947163
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.957875728607178,
                "transform": {
                    "location": {
                        "x": 2364.9072265625,
                        "y": 2298.22607421875,
                        "z": 364.0564270019531
                    },
                    "rotation": {
                        "roll": 0.00023573474027216434,
                        "pitch": -0.3423768877983093,
                        "yaw": -0.0372924767434597
                    }
                },
                "velocity": {
                    "x": 7.957642555236816,
                    "y": -0.005365478340536356,
                    "z": -0.06067595258355141
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990360736846924,
                "transform": {
                    "location": {
                        "x": 2380.409423828125,
                        "y": 2298.22021484375,
                        "z": 363.9475402832031
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.44196102023124695,
                        "yaw": 0.0271134153008461
                    }
                },
                "velocity": {
                    "x": 7.990124225616455,
                    "y": 0.003766485955566168,
                    "z": -0.06137159839272499
                },
                "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": -0.35561683773994446,
        "expert_target_speed": 5.073860686506317,
        "target_point": [
            35.45438411067418,
            10.62934027662997
        ],
        "target_point_next": [
            35.45438411067418,
            10.62934027662997
        ]
    },
    "175": {
        "acceleration": [
            -0.09253978729248047,
            0.8877754211425781,
            0.06106674671173096
        ],
        "angular_velocity": [
            -0.025227077305316925,
            -0.6397305727005005,
            13.119038581848145
        ],
        "forward_vector": [
            0.2580111026763916,
            0.9658116698265076,
            0.025259193032979965
        ],
        "right_vector": [
            -0.9661329984664917,
            0.2578078806400299,
            0.011052626185119152
        ],
        "location": [
            2384.3212890625,
            2307.6923828125,
            364.1567077636719
        ],
        "rotation": [
            -0.63348388671875,
            1.4473990201950073,
            75.04303741455078
        ],
        "velocity": [
            0.736722469329834,
            4.069077491760254,
            0.10034089535474777
        ],
        "speed": 4.135232959672933,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.604383948771682,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.863912582397461,
                "transform": {
                    "location": {
                        "x": 2440.208251953125,
                        "y": 2295.701171875,
                        "z": 363.2701416015625
                    },
                    "rotation": {
                        "roll": -0.0007019050535745919,
                        "pitch": 0.9584325551986694,
                        "yaw": -178.66493225097656
                    }
                },
                "velocity": {
                    "x": -1.862606406211853,
                    "y": -0.053162846714258194,
                    "z": 0.04517950862646103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.926548480987549,
                "transform": {
                    "location": {
                        "x": 2385.320068359375,
                        "y": 2243.04931640625,
                        "z": 362.73052978515625
                    },
                    "rotation": {
                        "roll": 0.011266551911830902,
                        "pitch": 1.1949893236160278,
                        "yaw": 90.62187957763672
                    }
                },
                "velocity": {
                    "x": -0.048435572534799576,
                    "y": 2.9255311489105225,
                    "z": 0.06006273254752159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.167933464050293,
                "transform": {
                    "location": {
                        "x": 2345.09130859375,
                        "y": 2298.2353515625,
                        "z": 364.18310546875
                    },
                    "rotation": {
                        "roll": 0.0010786686325445771,
                        "pitch": -0.16687516868114471,
                        "yaw": 0.062304943799972534
                    }
                },
                "velocity": {
                    "x": 8.167890548706055,
                    "y": 0.008081557229161263,
                    "z": -0.025069288909435272
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997035026550293,
                "transform": {
                    "location": {
                        "x": 2418.1240234375,
                        "y": 2295.1494140625,
                        "z": 363.5476379394531
                    },
                    "rotation": {
                        "roll": 0.004760768264532089,
                        "pitch": 0.7079285979270935,
                        "yaw": -178.79937744140625
                    }
                },
                "velocity": {
                    "x": -7.9946417808532715,
                    "y": -0.16834546625614166,
                    "z": 0.09966857731342316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6507956981658936,
                "transform": {
                    "location": {
                        "x": 2385.209716796875,
                        "y": 2264.814697265625,
                        "z": 363.1927795410156
                    },
                    "rotation": {
                        "roll": -0.0013732481747865677,
                        "pitch": 1.2500065565109253,
                        "yaw": 90.09169006347656
                    }
                },
                "velocity": {
                    "x": -0.0033146077767014503,
                    "y": 1.6503889560699463,
                    "z": 0.03649543598294258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044833183288574,
                "transform": {
                    "location": {
                        "x": 2392.01806640625,
                        "y": 2291.21484375,
                        "z": 363.8160705566406
                    },
                    "rotation": {
                        "roll": 0.15794512629508972,
                        "pitch": -0.7742019295692444,
                        "yaw": -139.7977752685547
                    }
                },
                "velocity": {
                    "x": -5.7759246826171875,
                    "y": -5.597728729248047,
                    "z": -0.1532212346792221
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018633842468262,
                "transform": {
                    "location": {
                        "x": 2371.724609375,
                        "y": 2294.5234375,
                        "z": 364.002685546875
                    },
                    "rotation": {
                        "roll": 0.0018669411074370146,
                        "pitch": 0.4315723180770874,
                        "yaw": 179.96209716796875
                    }
                },
                "velocity": {
                    "x": -8.018404006958008,
                    "y": 0.003946286626160145,
                    "z": 0.06057780981063843
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1861767133232206e-05,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.4468688964844
                    },
                    "rotation": {
                        "roll": -0.01315315905958414,
                        "pitch": 1.2700941562652588,
                        "yaw": 89.50897979736328
                    }
                },
                "velocity": {
                    "x": 5.944074018771062e-06,
                    "y": -4.7332494432339445e-05,
                    "z": 2.0345663870102726e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.409610068658367e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 2.475833582593623e-07,
                    "y": -5.725890150642954e-05,
                    "z": -2.880393003579229e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015822224086150527,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3798828125
                    },
                    "rotation": {
                        "roll": 0.0010314654791727662,
                        "pitch": 1.428096890449524,
                        "yaw": 89.73995971679688
                    }
                },
                "velocity": {
                    "x": -1.8180244296672754e-05,
                    "y": -7.31424952391535e-05,
                    "z": 0.0015804263530299067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.589405059814453,
                "transform": {
                    "location": {
                        "x": 2366.844970703125,
                        "y": 2298.22412109375,
                        "z": 364.0423278808594
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.5026540756225586,
                        "yaw": -0.03826904296875
                    }
                },
                "velocity": {
                    "x": 7.589189052581787,
                    "y": -0.005124262068420649,
                    "z": -0.057028185576200485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067837715148926,
                "transform": {
                    "location": {
                        "x": 2382.415771484375,
                        "y": 2298.228759765625,
                        "z": 363.9314880371094
                    },
                    "rotation": {
                        "roll": 0.005236784461885691,
                        "pitch": -0.4636263847351074,
                        "yaw": 0.23047639429569244
                    }
                },
                "velocity": {
                    "x": 8.067418098449707,
                    "y": 0.04891448840498924,
                    "z": -0.06609474122524261
                },
                "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": -0.45890942215919495,
        "expert_target_speed": 5.295218285742477,
        "target_point": [
            35.09086500716608,
            8.14213862091766
        ],
        "target_point_next": [
            35.09086500716608,
            8.14213862091766
        ]
    },
    "180": {
        "acceleration": [
            -0.7520902156829834,
            0.94940185546875,
            -0.044642239809036255
        ],
        "angular_velocity": [
            0.03941548615694046,
            0.051078710705041885,
            12.05202579498291
        ],
        "forward_vector": [
            0.20677049458026886,
            0.978057861328125,
            0.02547357976436615
        ],
        "right_vector": [
            -0.9783773422241211,
            0.2065679132938385,
            0.010371588170528412
        ],
        "location": [
            2384.50244140625,
            2308.73779296875,
            364.182373046875
        ],
        "rotation": [
            -0.5944517850875854,
            1.459686517715454,
            78.06291198730469
        ],
        "velocity": [
            0.6053970456123352,
            4.30528450012207,
            0.10319509357213974
        ],
        "speed": 4.347640763658779,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.559569306200049,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.52203369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15185558795928955,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.954136848449707,
                "transform": {
                    "location": {
                        "x": 2439.61474609375,
                        "y": 2295.683837890625,
                        "z": 363.2801513671875
                    },
                    "rotation": {
                        "roll": 0.0018806206062436104,
                        "pitch": 0.94242262840271,
                        "yaw": -178.53775024414062
                    }
                },
                "velocity": {
                    "x": -2.952580690383911,
                    "y": -0.08632102608680725,
                    "z": 0.04172087460756302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5390422344207764,
                "transform": {
                    "location": {
                        "x": 2385.310302734375,
                        "y": 2243.85693359375,
                        "z": 362.74713134765625
                    },
                    "rotation": {
                        "roll": 0.013787345960736275,
                        "pitch": 1.1973799467086792,
                        "yaw": 90.64264678955078
                    }
                },
                "velocity": {
                    "x": -0.03438877314329147,
                    "y": 3.5381155014038086,
                    "z": 0.07332105189561844
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.548611640930176,
                "transform": {
                    "location": {
                        "x": 2347.099365234375,
                        "y": 2298.237060546875,
                        "z": 364.17730712890625
                    },
                    "rotation": {
                        "roll": 0.0011306575033813715,
                        "pitch": -0.24240340292453766,
                        "yaw": 0.014190222136676311
                    }
                },
                "velocity": {
                    "x": 7.548554420471191,
                    "y": 0.0024070588406175375,
                    "z": -0.02926880680024624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.045402526855469,
                "transform": {
                    "location": {
                        "x": 2416.1171875,
                        "y": 2295.1064453125,
                        "z": 363.57220458984375
                    },
                    "rotation": {
                        "roll": 0.004157859832048416,
                        "pitch": 0.7293890118598938,
                        "yaw": -178.7830047607422
                    }
                },
                "velocity": {
                    "x": -8.043021202087402,
                    "y": -0.16873210668563843,
                    "z": 0.0991668850183487
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1003308296203613,
                "transform": {
                    "location": {
                        "x": 2385.20849609375,
                        "y": 2265.32080078125,
                        "z": 363.20306396484375
                    },
                    "rotation": {
                        "roll": 3.949955498683266e-06,
                        "pitch": 1.443048119544983,
                        "yaw": 90.0782470703125
                    }
                },
                "velocity": {
                    "x": -0.0030469687189906836,
                    "y": 2.099809408187866,
                    "z": 0.046701278537511826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009793281555176,
                "transform": {
                    "location": {
                        "x": 2390.71337890625,
                        "y": 2289.715576171875,
                        "z": 363.7779235839844
                    },
                    "rotation": {
                        "roll": 0.23884044587612152,
                        "pitch": -2.0839521884918213,
                        "yaw": -129.98123168945312
                    }
                },
                "velocity": {
                    "x": -4.674720287322998,
                    "y": -6.502350330352783,
                    "z": -0.1523657590150833
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.109720230102539,
                "transform": {
                    "location": {
                        "x": 2369.71630859375,
                        "y": 2294.525146484375,
                        "z": 364.01776123046875
                    },
                    "rotation": {
                        "roll": 0.00022399629233404994,
                        "pitch": 0.43408581614494324,
                        "yaw": 179.9650115966797
                    }
                },
                "velocity": {
                    "x": -8.109492301940918,
                    "y": 0.004891971126198769,
                    "z": 0.060667503625154495
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004323647008277476,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.4468688964844
                    },
                    "rotation": {
                        "roll": -0.01315315905958414,
                        "pitch": 1.2700941562652588,
                        "yaw": 89.50897979736328
                    }
                },
                "velocity": {
                    "x": -4.693323262472404e-06,
                    "y": -7.252514478750527e-05,
                    "z": 0.00042621276224963367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006474010879173875,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -1.9126446204609238e-05,
                    "y": -5.137249536346644e-05,
                    "z": -0.0006450761575251818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5069936513900757,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.91748046875,
                        "z": 365.38018798828125
                    },
                    "rotation": {
                        "roll": -0.0009765015565790236,
                        "pitch": 1.4627463817596436,
                        "yaw": 89.74722290039062
                    }
                },
                "velocity": {
                    "x": -0.0025310530327260494,
                    "y": 0.5068013072013855,
                    "z": 0.013732938095927238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.986998081207275,
                "transform": {
                    "location": {
                        "x": 2368.77001953125,
                        "y": 2298.222412109375,
                        "z": 364.0274658203125
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.3782626986503601,
                        "yaw": -0.03485107421875
                    }
                },
                "velocity": {
                    "x": 7.9867753982543945,
                    "y": -0.004813134204596281,
                    "z": -0.05944642052054405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013538360595703,
                "transform": {
                    "location": {
                        "x": 2384.42626953125,
                        "y": 2298.240478515625,
                        "z": 363.9149169921875
                    },
                    "rotation": {
                        "roll": 1.3950605534773786e-05,
                        "pitch": -0.4826006591320038,
                        "yaw": 0.33121147751808167
                    }
                },
                "velocity": {
                    "x": 8.013077735900879,
                    "y": 0.05153297260403633,
                    "z": -0.0688462182879448
                },
                "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": -0.37540990114212036,
        "expert_target_speed": 5.502704018396528,
        "target_point": [
            34.41081074882462,
            6.243160624555043
        ],
        "target_point_next": [
            34.41081074882462,
            6.243160624555043
        ]
    },
    "185": {
        "acceleration": [
            0.1440131664276123,
            -1.0499763488769531,
            0.00761866569519043
        ],
        "angular_velocity": [
            -0.719590961933136,
            -0.9720723628997803,
            6.272083759307861
        ],
        "forward_vector": [
            0.16580608487129211,
            0.9858397841453552,
            0.02506410703063011
        ],
        "right_vector": [
            -0.9861534237861633,
            0.16567113995552063,
            0.007382561452686787
        ],
        "location": [
            2384.65380859375,
            2309.82470703125,
            364.2083435058594
        ],
        "rotation": [
            -0.42312636971473694,
            1.4362179040908813,
            80.45291137695312
        ],
        "velocity": [
            0.5567269921302795,
            4.30980110168457,
            0.1037396565079689
        ],
        "speed": 4.345610484137754,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5252213081249457,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.560492992401123,
                "transform": {
                    "location": {
                        "x": 2330.923095703125,
                        "y": 2298.15380859375,
                        "z": 364.1267395019531
                    },
                    "rotation": {
                        "roll": 0.0010770934168249369,
                        "pitch": 0.15074226260185242,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": 0.0014701775508001447,
                    "y": 4.1996663640020415e-05,
                    "z": -0.5604910850524902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.483727931976318,
                "transform": {
                    "location": {
                        "x": 2438.670166015625,
                        "y": 2295.655517578125,
                        "z": 363.2930908203125
                    },
                    "rotation": {
                        "roll": 0.0029928339645266533,
                        "pitch": 0.9826456308364868,
                        "yaw": -178.39390563964844
                    }
                },
                "velocity": {
                    "x": -4.481288909912109,
                    "y": -0.1353129893541336,
                    "z": 0.05962732061743736
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.36168909072876,
                "transform": {
                    "location": {
                        "x": 2385.300537109375,
                        "y": 2244.844970703125,
                        "z": 362.7673645019531
                    },
                    "rotation": {
                        "roll": 0.010825149714946747,
                        "pitch": 1.2053302526474,
                        "yaw": 90.59284973144531
                    }
                },
                "velocity": {
                    "x": -0.040178339928388596,
                    "y": 4.360583782196045,
                    "z": 0.08959516137838364
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.774253845214844,
                "transform": {
                    "location": {
                        "x": 2348.837646484375,
                        "y": 2298.237548828125,
                        "z": 364.168701171875
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.3211076557636261,
                        "yaw": 0.002083992352709174
                    }
                },
                "velocity": {
                    "x": 6.774143695831299,
                    "y": -0.0002910360926762223,
                    "z": -0.03868181258440018
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010796546936035,
                "transform": {
                    "location": {
                        "x": 2414.11083984375,
                        "y": 2295.064453125,
                        "z": 363.5968933105469
                    },
                    "rotation": {
                        "roll": 0.0023186372127383947,
                        "pitch": 0.7158789038658142,
                        "yaw": -178.8182373046875
                    }
                },
                "velocity": {
                    "x": -8.00847339630127,
                    "y": -0.16542236506938934,
                    "z": 0.09922964125871658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6174966096878052,
                "transform": {
                    "location": {
                        "x": 2385.20751953125,
                        "y": 2265.49267578125,
                        "z": 363.2087707519531
                    },
                    "rotation": {
                        "roll": 0.0017522209091112018,
                        "pitch": 0.9163654446601868,
                        "yaw": 89.9571533203125
                    }
                },
                "velocity": {
                    "x": 0.0012285670964047313,
                    "y": 0.6173471212387085,
                    "z": 0.013530711643397808
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.072237014770508,
                "transform": {
                    "location": {
                        "x": 2389.658447265625,
                        "y": 2287.991943359375,
                        "z": 363.71240234375
                    },
                    "rotation": {
                        "roll": -0.5170592665672302,
                        "pitch": -1.1630581617355347,
                        "yaw": -120.7807388305664
                    }
                },
                "velocity": {
                    "x": -3.757805347442627,
                    "y": -7.141134262084961,
                    "z": -0.21002814173698425
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.62348461151123,
                "transform": {
                    "location": {
                        "x": 2367.626708984375,
                        "y": 2294.52734375,
                        "z": 364.03326416015625
                    },
                    "rotation": {
                        "roll": 0.0004166330036241561,
                        "pitch": 0.44529417157173157,
                        "yaw": 179.9665069580078
                    }
                },
                "velocity": {
                    "x": -8.623236656188965,
                    "y": 0.004846812691539526,
                    "z": 0.06511776149272919
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002206692297477275,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.4468688964844
                    },
                    "rotation": {
                        "roll": -0.01315315905958414,
                        "pitch": 1.2700941562652588,
                        "yaw": 89.50897979736328
                    }
                },
                "velocity": {
                    "x": -2.019613930315245e-05,
                    "y": -6.334334466373548e-05,
                    "z": -0.00021041541185695678
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005805781693197787,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": 2.5856168576865457e-05,
                    "y": -4.309326322982088e-05,
                    "z": -0.0005783989909105003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4815261363983154,
                "transform": {
                    "location": {
                        "x": 2385.57080078125,
                        "y": 2357.194091796875,
                        "z": 365.386474609375
                    },
                    "rotation": {
                        "roll": -0.0026245194021612406,
                        "pitch": 1.5225378274917603,
                        "yaw": 89.77606201171875
                    }
                },
                "velocity": {
                    "x": -0.008336642757058144,
                    "y": 1.4810415506362915,
                    "z": 0.0369604118168354
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.200100898742676,
                "transform": {
                    "location": {
                        "x": 2370.82568359375,
                        "y": 2298.27880859375,
                        "z": 364.01177978515625
                    },
                    "rotation": {
                        "roll": -0.2955321967601776,
                        "pitch": -0.32220733165740967,
                        "yaw": 1.7743514776229858
                    }
                },
                "velocity": {
                    "x": 8.19212532043457,
                    "y": 0.35650983452796936,
                    "z": -0.06037728488445282
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063965797424316,
                "transform": {
                    "location": {
                        "x": 2386.435791015625,
                        "y": 2298.255615234375,
                        "z": 363.8976745605469
                    },
                    "rotation": {
                        "roll": 0.012436145916581154,
                        "pitch": -0.49697819352149963,
                        "yaw": 0.45443883538246155
                    }
                },
                "velocity": {
                    "x": 8.063033103942871,
                    "y": 0.100168876349926,
                    "z": -0.07074887305498123
                },
                "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": -0.2790781557559967,
        "expert_target_speed": 5.498095411639373,
        "target_point": [
            33.5442559156787,
            4.7717812943324045
        ],
        "target_point_next": [
            33.5442559156787,
            4.7717812943324045
        ]
    },
    "190": {
        "acceleration": [
            0.18539786338806152,
            -1.0788774490356445,
            -0.041569918394088745
        ],
        "angular_velocity": [
            -0.3476704955101013,
            -0.22379429638385773,
            -0.9518323540687561
        ],
        "forward_vector": [
            0.15948666632175446,
            0.9869393110275269,
            0.02269025333225727
        ],
        "right_vector": [
            -0.9871998429298401,
            0.15946170687675476,
            0.002917003817856312
        ],
        "location": [
            2384.812255859375,
            2310.85302734375,
            364.23358154296875
        ],
        "rotation": [
            -0.1671752780675888,
            1.300167441368103,
            80.82051849365234
        ],
        "velocity": [
            0.6604559421539307,
            3.9647696018218994,
            0.09456522017717361
        ],
        "speed": 4.01940294659013,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.505549492345547,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.22061695158481598,
                "transform": {
                    "location": {
                        "x": 2330.923095703125,
                        "y": 2298.15380859375,
                        "z": 364.14990234375
                    },
                    "rotation": {
                        "roll": 0.0010403626365587115,
                        "pitch": 0.15051686763763428,
                        "yaw": -0.0448608472943306
                    }
                },
                "velocity": {
                    "x": -0.0005832517053931952,
                    "y": 7.465498492820188e-05,
                    "z": 0.2206161618232727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3931989669799805,
                "transform": {
                    "location": {
                        "x": 2437.39306640625,
                        "y": 2295.616455078125,
                        "z": 363.3101501464844
                    },
                    "rotation": {
                        "roll": 0.005200534127652645,
                        "pitch": 0.9150130748748779,
                        "yaw": -178.2841339111328
                    }
                },
                "velocity": {
                    "x": -5.390162944793701,
                    "y": -0.16727706789970398,
                    "z": 0.06899238377809525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.254544734954834,
                "transform": {
                    "location": {
                        "x": 2385.2890625,
                        "y": 2246.057373046875,
                        "z": 362.7926330566406
                    },
                    "rotation": {
                        "roll": 0.010787572711706161,
                        "pitch": 1.2181026935577393,
                        "yaw": 90.5519790649414
                    }
                },
                "velocity": {
                    "x": -0.04783828556537628,
                    "y": 5.253161907196045,
                    "z": 0.11064039170742035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.316234588623047,
                "transform": {
                    "location": {
                        "x": 2350.5830078125,
                        "y": 2298.237548828125,
                        "z": 364.1593322753906
                    },
                    "rotation": {
                        "roll": 0.0007131740567274392,
                        "pitch": -0.361173540353775,
                        "yaw": -0.01605224423110485
                    }
                },
                "velocity": {
                    "x": 7.316100120544434,
                    "y": -0.0030925055034458637,
                    "z": -0.04421953111886978
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022518157958984,
                "transform": {
                    "location": {
                        "x": 2412.1083984375,
                        "y": 2295.0234375,
                        "z": 363.6213684082031
                    },
                    "rotation": {
                        "roll": 0.00018288737919647247,
                        "pitch": 0.706740140914917,
                        "yaw": -178.79812622070312
                    }
                },
                "velocity": {
                    "x": -8.020223617553711,
                    "y": -0.16626113653182983,
                    "z": 0.09576375782489777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0008829800062812865,
                "transform": {
                    "location": {
                        "x": 2385.2080078125,
                        "y": 2265.6025390625,
                        "z": 363.2109375
                    },
                    "rotation": {
                        "roll": 0.002716838149353862,
                        "pitch": 0.9798588752746582,
                        "yaw": 90.0513916015625
                    }
                },
                "velocity": {
                    "x": 0.00026432418962940574,
                    "y": -0.00044761417666450143,
                    "z": 0.0007137422217056155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.947158336639404,
                "transform": {
                    "location": {
                        "x": 2388.88330078125,
                        "y": 2286.145751953125,
                        "z": 363.669921875
                    },
                    "rotation": {
                        "roll": -0.5850830674171448,
                        "pitch": -1.2322958707809448,
                        "yaw": -111.9839859008789
                    }
                },
                "velocity": {
                    "x": -2.32869291305542,
                    "y": -7.596507549285889,
                    "z": -0.16607974469661713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.20489501953125,
                "transform": {
                    "location": {
                        "x": 2365.396484375,
                        "y": 2294.529296875,
                        "z": 364.0500183105469
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": 0.4516667127609253,
                        "yaw": 179.96762084960938
                    }
                },
                "velocity": {
                    "x": -9.20463752746582,
                    "y": 0.004431787878274918,
                    "z": 0.06864957511425018
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030932147637940943,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.4468688964844
                    },
                    "rotation": {
                        "roll": -0.01315315905958414,
                        "pitch": 1.2700941562652588,
                        "yaw": 89.50897979736328
                    }
                },
                "velocity": {
                    "x": 1.954306753759738e-05,
                    "y": -4.825025825994089e-05,
                    "z": -0.00030490942299366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009721738169901073,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.157958984375,
                        "z": 365.1096496582031
                    },
                    "rotation": {
                        "roll": 0.011495154350996017,
                        "pitch": 1.396561861038208,
                        "yaw": 90.27332305908203
                    }
                },
                "velocity": {
                    "x": -2.20368256123038e-05,
                    "y": -2.946406493720133e-05,
                    "z": -0.0009714773041196167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4367177486419678,
                "transform": {
                    "location": {
                        "x": 2385.569091796875,
                        "y": 2357.6806640625,
                        "z": 365.3985595703125
                    },
                    "rotation": {
                        "roll": 0.0014713614946231246,
                        "pitch": 1.5277971029281616,
                        "yaw": 89.88701629638672
                    }
                },
                "velocity": {
                    "x": -0.013687304221093655,
                    "y": 2.43593430519104,
                    "z": 0.060251977294683456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.632078170776367,
                "transform": {
                    "location": {
                        "x": 2372.77587890625,
                        "y": 2298.37109375,
                        "z": 363.998046875
                    },
                    "rotation": {
                        "roll": -0.2187805026769638,
                        "pitch": -0.5556290149688721,
                        "yaw": 2.874192476272583
                    }
                },
                "velocity": {
                    "x": 7.620371341705322,
                    "y": 0.4187535345554352,
                    "z": -0.05656686797738075
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009195327758789,
                "transform": {
                    "location": {
                        "x": 2388.444091796875,
                        "y": 2298.280517578125,
                        "z": 363.87982177734375
                    },
                    "rotation": {
                        "roll": 0.005133188795298338,
                        "pitch": -0.5118407011032104,
                        "yaw": 0.6889607906341553
                    }
                },
                "velocity": {
                    "x": 8.0081205368042,
                    "y": 0.11000256985425949,
                    "z": -0.07156746834516525
                },
                "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": -0.14446789026260376,
        "expert_target_speed": 5.173456806733952,
        "target_point": [
            32.53375468521358,
            4.548826385416386
        ],
        "target_point_next": [
            32.53375468521358,
            4.548826385416386
        ]
    },
    "195": {
        "acceleration": [
            -0.30975818634033203,
            0.011444091796875,
            -0.011674165725708008
        ],
        "angular_velocity": [
            0.2486468404531479,
            0.31888747215270996,
            0.33441123366355896
        ],
        "forward_vector": [
            0.16207991540431976,
            0.986517071723938,
            0.02267524041235447
        ],
        "right_vector": [
            -0.986777663230896,
            0.16203901171684265,
            0.0036422607954591513
        ],
        "location": [
            2384.974609375,
            2311.82568359375,
            364.2567138671875
        ],
        "rotation": [
            -0.20874030888080597,
            1.299306869506836,
            80.66993713378906
        ],
        "velocity": [
            0.6328000426292419,
            3.868018627166748,
            0.09158431738615036
        ],
        "speed": 3.9194392448487454,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 35.391334533691406,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.47802734375,
                2347.203125,
                365.1110534667969
            ],
            "velocity": [
                -0.0017479542875662446,
                0.49411439895629883,
                0.011681699194014072
            ],
            "speed_kmh": 1.7793200090997379,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4044,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3962754011154175,
                "transform": {
                    "location": {
                        "x": 2330.929443359375,
                        "y": 2298.15380859375,
                        "z": 364.17828369140625
                    },
                    "rotation": {
                        "roll": 0.0009489524527452886,
                        "pitch": 0.1367950141429901,
                        "yaw": -0.0450134314596653
                    }
                },
                "velocity": {
                    "x": 0.39461737871170044,
                    "y": 0.003307672683149576,
                    "z": 0.036060743033885956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4043,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.087984561920166,
                "transform": {
                    "location": {
                        "x": 2436.0009765625,
                        "y": 2295.572998046875,
                        "z": 363.3280334472656
                    },
                    "rotation": {
                        "roll": 0.005759765859693289,
                        "pitch": 0.8521138429641724,
                        "yaw": -178.2158966064453
                    }
                },
                "velocity": {
                    "x": -6.084439754486084,
                    "y": -0.19251561164855957,
                    "z": 0.0779929906129837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4042,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.496099948883057,
                "transform": {
                    "location": {
                        "x": 2385.27685546875,
                        "y": 2247.377685546875,
                        "z": 362.8201599121094
                    },
                    "rotation": {
                        "roll": 0.009653044864535332,
                        "pitch": 1.2088819742202759,
                        "yaw": 90.52824401855469
                    }
                },
                "velocity": {
                    "x": -0.04966840520501137,
                    "y": 5.494715690612793,
                    "z": 0.11290322989225388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4041,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.147624015808105,
                "transform": {
                    "location": {
                        "x": 2352.510009765625,
                        "y": 2298.23779296875,
                        "z": 364.1462097167969
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.3713368773460388,
                        "yaw": -0.028594965115189552
                    }
                },
                "velocity": {
                    "x": 8.14741039276123,
                    "y": -0.0035882615484297276,
                    "z": -0.058950260281562805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4040,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027909278869629,
                "transform": {
                    "location": {
                        "x": 2410.10205078125,
                        "y": 2294.982421875,
                        "z": 363.6453552246094
                    },
                    "rotation": {
                        "roll": -0.0002746585523709655,
                        "pitch": 0.696296751499176,
                        "yaw": -178.82823181152344
                    }
                },
                "velocity": {
                    "x": -8.025618553161621,
                    "y": -0.16604767739772797,
                    "z": 0.09591827541589737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4039,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00221065990626812,
                "transform": {
                    "location": {
                        "x": 2385.207763671875,
                        "y": 2265.604248046875,
                        "z": 363.2103576660156
                    },
                    "rotation": {
                        "roll": 0.0005922625423409045,
                        "pitch": 1.1397945880889893,
                        "yaw": 90.05145263671875
                    }
                },
                "velocity": {
                    "x": 0.0001157375518232584,
                    "y": -0.0019023673376068473,
                    "z": 0.0011200985172763467
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4038,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.12043571472168,
                "transform": {
                    "location": {
                        "x": 2388.480224609375,
                        "y": 2284.1875,
                        "z": 363.6261291503906
                    },
                    "rotation": {
                        "roll": -0.700714111328125,
                        "pitch": -1.2706542015075684,
                        "yaw": -101.06593322753906
                    }
                },
                "velocity": {
                    "x": -1.1296204328536987,
                    "y": -8.039468765258789,
                    "z": -0.1799515336751938
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4036,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.859173774719238,
                "transform": {
                    "location": {
                        "x": 2363.01025390625,
                        "y": 2294.53125,
                        "z": 364.0679626464844
                    },
                    "rotation": {
                        "roll": 0.000626286375336349,
                        "pitch": 0.4530327618122101,
                        "yaw": 179.96873474121094
                    }
                },
                "velocity": {
                    "x": -9.858901023864746,
                    "y": 0.005314494948834181,
                    "z": 0.07312091439962387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4035,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001751327799865976,
                "transform": {
                    "location": {
                        "x": 2385.22900390625,
                        "y": 2276.00830078125,
                        "z": 363.4468688964844
                    },
                    "rotation": {
                        "roll": -0.01315315905958414,
                        "pitch": 1.2700941562652588,
                        "yaw": 89.50897979736328
                    }
                },
                "velocity": {
                    "x": -4.6767912863288075e-05,
                    "y": -4.827663360629231e-05,
                    "z": 0.0001617208035895601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.49425557255744934,
                "transform": {
                    "location": {
                        "x": 2385.47802734375,
                        "y": 2347.203125,
                        "z": 365.1110534667969
                    },
                    "rotation": {
                        "roll": 0.01192709431052208,
                        "pitch": 1.3571721315383911,
                        "yaw": 90.27116394042969
                    }
                },
                "velocity": {
                    "x": -0.0017479542875662446,
                    "y": 0.49411439895629883,
                    "z": 0.011681699194014072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.513606309890747,
                "transform": {
                    "location": {
                        "x": 2385.566162109375,
                        "y": 2358.445068359375,
                        "z": 365.4173278808594
                    },
                    "rotation": {
                        "roll": 0.005988687742501497,
                        "pitch": 1.5486633777618408,
                        "yaw": 90.0364761352539
                    }
                },
                "velocity": {
                    "x": -0.02035091072320938,
                    "y": 3.5124664306640625,
                    "z": 0.08714694529771805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4032,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.175729751586914,
                "transform": {
                    "location": {
                        "x": 2374.74267578125,
                        "y": 2298.540283203125,
                        "z": 363.9825439453125
                    },
                    "rotation": {
                        "roll": -0.8562315702438354,
                        "pitch": -0.350955605506897,
                        "yaw": 5.500685214996338
                    }
                },
                "velocity": {
                    "x": 8.076324462890625,
                    "y": 1.2695642709732056,
                    "z": -0.06114155799150467
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4031,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068009376525879,
                "transform": {
                    "location": {
                        "x": 2390.4541015625,
                        "y": 2298.307373046875,
                        "z": 363.86151123046875
                    },
                    "rotation": {
                        "roll": 0.004294231999665499,
                        "pitch": -0.529052734375,
                        "yaw": 0.7762866616249084
                    }
                },
                "velocity": {
                    "x": 8.066841125488281,
                    "y": 0.11435890197753906,
                    "z": -0.07601743191480637
                },
                "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": 0.0037847503554075956,
        "expert_target_speed": 5.075275970935142,
        "target_point": [
            31.535576739405926,
            4.636836824682935
        ],
        "target_point_next": [
            31.535576739405926,
            4.636836824682935
        ]
    },
    "200": {
        "acceleration": [
            -0.3101205825805664,
            -0.2677440643310547,
            -0.00690951943397522
        ],
        "angular_velocity": [
            0.03123728185892105,
            0.03900475427508354,
            2.432919979095459
        ],
        "forward_vector": [
            0.15442436933517456,
            0.9877318143844604,
            0.023215947672724724
        ],
        "right_vector": [
            -0.9880037903785706,
            0.15435095131397247,
            0.00493242172524333
        ],
        "location": [
            2385.12109375,
            2312.792236328125,
            364.2795104980469
        ],
        "rotation": [
            -0.2826842963695526,
            1.3302953243255615,
            81.11417388916016
        ],
        "velocity": [
            0.5412772297859192,
            3.841657876968384,
            0.09178128838539124
        ],
        "speed": 3.879602593456957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.6572265625,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.47802734375,
                2347.4375,
                365.1170654296875
            ],
            "velocity": [
                -0.000871234864462167,
                1.2685414552688599,
                0.0304508488625288
            ],
            "speed_kmh": 4.5680658558398965,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.359867572784424,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.68310546875,
                        "z": 365.1042175292969
                    },
                    "rotation": {
                        "roll": -0.00033573908149264753,
                        "pitch": -1.3939800262451172,
                        "yaw": -90.26225280761719
                    }
                },
                "velocity": {
                    "x": 0.00045134779065847397,
                    "y": -0.0021873738151043653,
                    "z": -2.3598666191101074
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.268907070159912,
                "transform": {
                    "location": {
                        "x": 2385.47802734375,
                        "y": 2347.4375,
                        "z": 365.1170654296875
                    },
                    "rotation": {
                        "roll": 0.011528157629072666,
                        "pitch": 1.3218532800674438,
                        "yaw": 90.26829528808594
                    }
                },
                "velocity": {
                    "x": -0.000871234864462167,
                    "y": 1.2685414552688599,
                    "z": 0.0304508488625288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6272473335266113,
                "transform": {
                    "location": {
                        "x": 2385.5625,
                        "y": 2359.22314453125,
                        "z": 365.4380798339844
                    },
                    "rotation": {
                        "roll": 0.010659806430339813,
                        "pitch": 1.395960807800293,
                        "yaw": 90.14276885986328
                    }
                },
                "velocity": {
                    "x": -0.016022328287363052,
                    "y": 2.626386880874634,
                    "z": 0.06530135869979858
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10643468797206879,
        "expert_target_speed": 5.035681847108974,
        "target_point": [
            30.593000504339905,
            4.387619393308228
        ],
        "target_point_next": [
            30.593000504339905,
            4.387619393308228
        ]
    },
    "205": {
        "acceleration": [
            -0.1363074779510498,
            0.29351234436035156,
            0.014522969722747803
        ],
        "angular_velocity": [
            0.15136629343032837,
            -0.10178963094949722,
            2.6468071937561035
        ],
        "forward_vector": [
            0.14320054650306702,
            0.9894136190414429,
            0.023543326184153557
        ],
        "right_vector": [
            -0.989692747592926,
            0.14312708377838135,
            0.004784887190908194
        ],
        "location": [
            2385.2509765625,
            2313.748291015625,
            364.3020935058594
        ],
        "rotation": [
            -0.2742308974266052,
            1.349057912826538,
            81.76461029052734
        ],
        "velocity": [
            0.4890119433403015,
            3.842346668243408,
            0.09192033857107162
        ],
        "speed": 3.8733397216989216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.131343841552734,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.477783203125,
                2347.868896484375,
                365.127685546875
            ],
            "velocity": [
                -0.0012065506307408214,
                2.144101142883301,
                0.052431199699640274
            ],
            "speed_kmh": 7.721072837245015,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09457550942897797,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.686767578125,
                        "z": 364.96099853515625
                    },
                    "rotation": {
                        "roll": -0.0002747326798271388,
                        "pitch": -1.4202284812927246,
                        "yaw": -90.2624282836914
                    }
                },
                "velocity": {
                    "x": 0.00011679337330861017,
                    "y": -0.002376637188717723,
                    "z": 0.09454556554555893
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.144742488861084,
                "transform": {
                    "location": {
                        "x": 2385.477783203125,
                        "y": 2347.868896484375,
                        "z": 365.127685546875
                    },
                    "rotation": {
                        "roll": 0.01094883307814598,
                        "pitch": 1.3115806579589844,
                        "yaw": 90.2177505493164
                    }
                },
                "velocity": {
                    "x": -0.0012065506307408214,
                    "y": 2.144101142883301,
                    "z": 0.052431199699640274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.073925495147705,
                "transform": {
                    "location": {
                        "x": 2385.5595703125,
                        "y": 2359.776123046875,
                        "z": 365.4519958496094
                    },
                    "rotation": {
                        "roll": 0.011001154780387878,
                        "pitch": 1.3739129304885864,
                        "yaw": 90.19590759277344
                    }
                },
                "velocity": {
                    "x": -0.012683273293077946,
                    "y": 2.0732240676879883,
                    "z": 0.05242007225751877
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19044053554534912,
        "expert_target_speed": 5.030109714524122,
        "target_point": [
            29.67603745272861,
            4.031640950629865
        ],
        "target_point_next": [
            29.67603745272861,
            4.031640950629865
        ]
    },
    "210": {
        "acceleration": [
            -0.33007025718688965,
            0.702362060546875,
            0.008379817008972168
        ],
        "angular_velocity": [
            0.19274549186229706,
            0.0339600071310997,
            3.8024139404296875
        ],
        "forward_vector": [
            0.1297605186700821,
            0.9912446737289429,
            0.024417832493782043
        ],
        "right_vector": [
            -0.9915439486503601,
            0.1296795755624771,
            0.004876368213444948
        ],
        "location": [
            2385.369140625,
            2314.7265625,
            364.32513427734375
        ],
        "rotation": [
            -0.2794797718524933,
            1.3991777896881104,
            82.54200744628906
        ],
        "velocity": [
            0.427769273519516,
            3.9880082607269287,
            0.09311216324567795
        ],
        "speed": 4.010884745164542,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 33.68483352661133,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.4775390625,
                2348.4013671875,
                365.1399841308594
            ],
            "velocity": [
                -0.0014872592873871326,
                1.819762945175171,
                0.04487331211566925
            ],
            "speed_kmh": 6.553140233137154,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9226594567298889,
                "transform": {
                    "location": {
                        "x": 2388.26220703125,
                        "y": 2343.619384765625,
                        "z": 364.9920654296875
                    },
                    "rotation": {
                        "roll": -0.014770513400435448,
                        "pitch": -1.205808401107788,
                        "yaw": -90.1911849975586
                    }
                },
                "velocity": {
                    "x": 0.009335805661976337,
                    "y": -0.9185416102409363,
                    "z": 0.08657132834196091
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8203167915344238,
                "transform": {
                    "location": {
                        "x": 2385.4775390625,
                        "y": 2348.4013671875,
                        "z": 365.1399841308594
                    },
                    "rotation": {
                        "roll": 0.010607092641294003,
                        "pitch": 1.4012541770935059,
                        "yaw": 90.1756820678711
                    }
                },
                "velocity": {
                    "x": -0.0014872592873871326,
                    "y": 1.819762945175171,
                    "z": 0.04487331211566925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9089791774749756,
                "transform": {
                    "location": {
                        "x": 2385.556396484375,
                        "y": 2360.38330078125,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": 0.011173781007528305,
                        "pitch": 1.485285997390747,
                        "yaw": 90.23990631103516
                    }
                },
                "velocity": {
                    "x": -0.0179455429315567,
                    "y": 2.908036708831787,
                    "z": 0.07183769345283508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27351561188697815,
        "expert_target_speed": 5.1640943595654205,
        "target_point": [
            28.742670383077222,
            3.618838814778055
        ],
        "target_point_next": [
            28.742670383077222,
            3.618838814778055
        ]
    },
    "215": {
        "acceleration": [
            -0.20017921924591064,
            0.6504726409912109,
            0.02007022500038147
        ],
        "angular_velocity": [
            0.056280720978975296,
            -0.14963358640670776,
            3.945432186126709
        ],
        "forward_vector": [
            0.11259614676237106,
            0.9933270215988159,
            0.024970555678009987
        ],
        "right_vector": [
            -0.9936391711235046,
            0.11251448094844818,
            0.004655866418033838
        ],
        "location": [
            2385.471923828125,
            2315.745361328125,
            364.34912109375
        ],
        "rotation": [
            -0.2668456435203552,
            1.4308562278747559,
            83.5329818725586
        ],
        "velocity": [
            0.37133753299713135,
            4.157529830932617,
            0.09732615947723389
        ],
        "speed": 4.1740802410240025,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 32.80624008178711,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.4775390625,
                2348.5419921875,
                365.1430358886719
            ],
            "velocity": [
                -3.190442657796666e-05,
                0.7861660718917847,
                0.019268931820988655
            ],
            "speed_kmh": 2.831047840301086,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.925847053527832,
                "transform": {
                    "location": {
                        "x": 2388.264892578125,
                        "y": 2343.244140625,
                        "z": 364.9987487792969
                    },
                    "rotation": {
                        "roll": -0.01879885606467724,
                        "pitch": -1.0104103088378906,
                        "yaw": -90.07205963134766
                    }
                },
                "velocity": {
                    "x": 0.015533355064690113,
                    "y": -1.9257529973983765,
                    "z": -0.010994529351592064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.78640216588974,
                "transform": {
                    "location": {
                        "x": 2385.4775390625,
                        "y": 2348.5419921875,
                        "z": 365.1430358886719
                    },
                    "rotation": {
                        "roll": 0.009684248827397823,
                        "pitch": 1.4613462686538696,
                        "yaw": 90.18037414550781
                    }
                },
                "velocity": {
                    "x": -3.190442657796666e-05,
                    "y": 0.7861660718917847,
                    "z": 0.019268931820988655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2617146968841553,
                "transform": {
                    "location": {
                        "x": 2385.5517578125,
                        "y": 2361.197021484375,
                        "z": 365.4864807128906
                    },
                    "rotation": {
                        "roll": 0.013025148771703243,
                        "pitch": 1.4906818866729736,
                        "yaw": 90.28178405761719
                    }
                },
                "velocity": {
                    "x": -0.020489173009991646,
                    "y": 3.2606005668640137,
                    "z": 0.08274402469396591
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3324562609195709,
        "expert_target_speed": 5.31957674056271,
        "target_point": [
            27.777067176271714,
            3.1085669276214483
        ],
        "target_point_next": [
            27.777067176271714,
            3.1085669276214483
        ]
    },
    "220": {
        "acceleration": [
            -0.2643638849258423,
            0.6482696533203125,
            0.002244114875793457
        ],
        "angular_velocity": [
            0.015484794974327087,
            -0.053254272788763046,
            4.090994834899902
        ],
        "forward_vector": [
            0.09514688700437546,
            0.9951444864273071,
            0.025188403204083443
        ],
        "right_vector": [
            -0.9954614639282227,
            0.09506890177726746,
            0.004278328735381365
        ],
        "location": [
            2385.560791015625,
            2316.806396484375,
            364.3741455078125
        ],
        "rotation": [
            -0.245208740234375,
            1.443341851234436,
            84.53849029541016
        ],
        "velocity": [
            0.31087130308151245,
            4.3245530128479,
            0.10110324621200562
        ],
        "speed": 4.335712136202247,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 32.05958938598633,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.4775390625,
                2348.8564453125,
                365.1518249511719
            ],
            "velocity": [
                -0.0012330705067142844,
                1.6261756420135498,
                0.03989483788609505
            ],
            "speed_kmh": 5.855995455130915,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.103945016860962,
                "transform": {
                    "location": {
                        "x": 2388.269287109375,
                        "y": 2342.620849609375,
                        "z": 364.9881591796875
                    },
                    "rotation": {
                        "roll": -0.023712193593382835,
                        "pitch": -0.9442735910415649,
                        "yaw": -89.89701843261719
                    }
                },
                "velocity": {
                    "x": 0.026590589433908463,
                    "y": -3.103116035461426,
                    "z": -0.06662872433662415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.626665472984314,
                "transform": {
                    "location": {
                        "x": 2385.4775390625,
                        "y": 2348.8564453125,
                        "z": 365.1518249511719
                    },
                    "rotation": {
                        "roll": 0.00963177252560854,
                        "pitch": 1.3296191692352295,
                        "yaw": 90.15985870361328
                    }
                },
                "velocity": {
                    "x": -0.0012330705067142844,
                    "y": 1.6261756420135498,
                    "z": 0.03989483788609505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.951282024383545,
                "transform": {
                    "location": {
                        "x": 2385.5478515625,
                        "y": 2361.94384765625,
                        "z": 365.5057678222656
                    },
                    "rotation": {
                        "roll": 0.019102169200778008,
                        "pitch": 1.4202079772949219,
                        "yaw": 90.28926086425781
                    }
                },
                "velocity": {
                    "x": -0.0009656788897700608,
                    "y": 2.95037841796875,
                    "z": 0.07301899045705795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.37290406227111816,
        "expert_target_speed": 5.478910938101644,
        "target_point": [
            26.762663066933257,
            2.6081290408757987
        ],
        "target_point_next": [
            26.762663066933257,
            2.6081290408757987
        ]
    },
    "225": {
        "acceleration": [
            -0.12609541416168213,
            0.5031681060791016,
            0.016269683837890625
        ],
        "angular_velocity": [
            -0.045631859451532364,
            -0.1917511373758316,
            3.3564047813415527
        ],
        "forward_vector": [
            0.07870880514383316,
            0.9965800642967224,
            0.02515944465994835
        ],
        "right_vector": [
            -0.9968963861465454,
            0.07864399999380112,
            0.003556314390152693
        ],
        "location": [
            2385.635986328125,
            2317.9052734375,
            364.4001770019531
        ],
        "rotation": [
            -0.20382675528526306,
            1.4416821002960205,
            85.48421478271484
        ],
        "velocity": [
            0.2671475410461426,
            4.460953712463379,
            0.10480821132659912
        ],
        "speed": 4.468945718335344,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.472814559936523,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.47705078125,
                2349.368408203125,
                365.16436767578125
            ],
            "velocity": [
                -0.0016298791160807014,
                2.277015447616577,
                0.056076258420944214
            ],
            "speed_kmh": 8.19974312483375,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.5382537841796875,
                "transform": {
                    "location": {
                        "x": 2388.27734375,
                        "y": 2341.65234375,
                        "z": 364.96533203125
                    },
                    "rotation": {
                        "roll": -0.02917475439608097,
                        "pitch": -0.8278462290763855,
                        "yaw": -89.69835662841797
                    }
                },
                "velocity": {
                    "x": 0.04247391223907471,
                    "y": -4.536772727966309,
                    "z": -0.10787269473075867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2777063846588135,
                "transform": {
                    "location": {
                        "x": 2385.47705078125,
                        "y": 2349.368408203125,
                        "z": 365.16436767578125
                    },
                    "rotation": {
                        "roll": 0.010703966952860355,
                        "pitch": 1.3280550241470337,
                        "yaw": 90.1331787109375
                    }
                },
                "velocity": {
                    "x": -0.0016298791160807014,
                    "y": 2.277015447616577,
                    "z": 0.056076258420944214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.981807231903076,
                "transform": {
                    "location": {
                        "x": 2385.546142578125,
                        "y": 2362.802978515625,
                        "z": 365.5263977050781
                    },
                    "rotation": {
                        "roll": 0.014643343165516853,
                        "pitch": 1.5160696506500244,
                        "yaw": 90.1971435546875
                    }
                },
                "velocity": {
                    "x": -0.0032804561778903008,
                    "y": 3.980555534362793,
                    "z": 0.09978692978620529
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40687817335128784,
        "expert_target_speed": 5.610207155655606,
        "target_point": [
            25.700679590498726,
            2.1544864089178155
        ],
        "target_point_next": [
            25.700679590498726,
            2.1544864089178155
        ]
    },
    "230": {
        "acceleration": [
            0.004013776779174805,
            0.561370849609375,
            0.00227317214012146
        ],
        "angular_velocity": [
            -0.00474391458556056,
            -0.19939182698726654,
            1.903952717781067
        ],
        "forward_vector": [
            0.06724502891302109,
            0.9974201917648315,
            0.02512083202600479
        ],
        "right_vector": [
            -0.9977360963821411,
            0.06720206141471863,
            0.0025515647139400244
        ],
        "location": [
            2385.703857421875,
            2319.037109375,
            364.4269714355469
        ],
        "rotation": [
            -0.1462402045726776,
            1.4394690990447998,
            86.14301300048828
        ],
        "velocity": [
            0.2602698504924774,
            4.592048645019531,
            0.10795780271291733
        ],
        "speed": 4.599418566873545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.72202491760254,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.47705078125,
                2349.749267578125,
                365.1717529296875
            ],
            "velocity": [
                3.700166416820139e-05,
                0.0015106919454410672,
                -0.0005050367908552289
            ],
            "speed_kmh": 0.0057358986939508,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.381197452545166,
                "transform": {
                    "location": {
                        "x": 2388.2822265625,
                        "y": 2340.371337890625,
                        "z": 364.9351806640625
                    },
                    "rotation": {
                        "roll": 0.0002477864327374846,
                        "pitch": -0.9209280014038086,
                        "yaw": -89.75714111328125
                    }
                },
                "velocity": {
                    "x": 0.016927596181631088,
                    "y": -5.37962007522583,
                    "z": -0.1291826069355011
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001593305147252977,
                "transform": {
                    "location": {
                        "x": 2385.47705078125,
                        "y": 2349.749267578125,
                        "z": 365.1717529296875
                    },
                    "rotation": {
                        "roll": 0.010951031930744648,
                        "pitch": 1.5794060230255127,
                        "yaw": 90.11273956298828
                    }
                },
                "velocity": {
                    "x": 3.700166416820139e-05,
                    "y": 0.0015106919454410672,
                    "z": -0.0005050367908552289
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.75076961517334,
                "transform": {
                    "location": {
                        "x": 2385.54443359375,
                        "y": 2363.7880859375,
                        "z": 365.5516052246094
                    },
                    "rotation": {
                        "roll": 0.012218417599797249,
                        "pitch": 1.4487377405166626,
                        "yaw": 90.13304138183594
                    }
                },
                "velocity": {
                    "x": -0.0022552551236003637,
                    "y": 3.7495782375335693,
                    "z": 0.09450496733188629
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.45012032985687256,
        "expert_target_speed": 5.726726193818594,
        "target_point": [
            24.589915493280056,
            1.8504148646297487
        ],
        "target_point_next": [
            24.589915493280056,
            1.8504148646297487
        ]
    },
    "235": {
        "acceleration": [
            0.05399554967880249,
            0.5435752868652344,
            0.012894421815872192
        ],
        "angular_velocity": [
            0.014418775215744972,
            -0.16216856241226196,
            1.2857388257980347
        ],
        "forward_vector": [
            0.059822555631399155,
            0.9978924989700317,
            0.02513286843895912
        ],
        "right_vector": [
            -0.9982088804244995,
            0.05978984758257866,
            0.0020515816286206245
        ],
        "location": [
            2385.768798828125,
            2320.203369140625,
            364.45452880859375
        ],
        "rotation": [
            -0.11758418381214142,
            1.4401589632034302,
            86.56929016113281
        ],
        "velocity": [
            0.25089403986930847,
            4.731128692626953,
            0.11152540147304535
        ],
        "speed": 4.737776538149511,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.728008270263672,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.476318359375,
                2349.921142578125,
                365.1775817871094
            ],
            "velocity": [
                -0.0011867922730743885,
                1.127657175064087,
                0.02739754691720009
            ],
            "speed_kmh": 4.060766071975015,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.3686442375183105,
                "transform": {
                    "location": {
                        "x": 2388.28662109375,
                        "y": 2338.958251953125,
                        "z": 364.9012756347656
                    },
                    "rotation": {
                        "roll": -0.005004974082112312,
                        "pitch": -0.9855279326438904,
                        "yaw": -89.80028533935547
                    }
                },
                "velocity": {
                    "x": 0.01858997531235218,
                    "y": -6.366743564605713,
                    "z": -0.15445786714553833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1279906034469604,
                "transform": {
                    "location": {
                        "x": 2385.476318359375,
                        "y": 2349.921142578125,
                        "z": 365.1775817871094
                    },
                    "rotation": {
                        "roll": 0.009440578520298004,
                        "pitch": 1.3833181858062744,
                        "yaw": 90.0879135131836
                    }
                },
                "velocity": {
                    "x": -0.0011867922730743885,
                    "y": 1.127657175064087,
                    "z": 0.02739754691720009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.922098159790039,
                "transform": {
                    "location": {
                        "x": 2385.54345703125,
                        "y": 2364.70751953125,
                        "z": 365.57464599609375
                    },
                    "rotation": {
                        "roll": 0.010286734439432621,
                        "pitch": 1.4509097337722778,
                        "yaw": 90.09027099609375
                    }
                },
                "velocity": {
                    "x": -0.0026723137125372887,
                    "y": 3.9208641052246094,
                    "z": 0.09834583103656769
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4879474639892578,
        "expert_target_speed": 5.8620394178414905,
        "target_point": [
            23.434944162866014,
            1.6624760567777854
        ],
        "target_point_next": [
            23.434944162866014,
            1.6624760567777854
        ]
    },
    "240": {
        "acceleration": [
            0.02271592617034912,
            0.26175498962402344,
            0.0030681490898132324
        ],
        "angular_velocity": [
            -0.07027929276227951,
            -0.011350207962095737,
            0.1645391881465912
        ],
        "forward_vector": [
            0.05773824825882912,
            0.9980188608169556,
            0.024994390085339546
        ],
        "right_vector": [
            -0.9983317852020264,
            0.057722531259059906,
            0.0013503319351002574
        ],
        "location": [
            2385.836181640625,
            2321.400146484375,
            364.48284912109375
        ],
        "rotation": [
            -0.07739252597093582,
            1.4322222471237183,
            86.68896484375
        ],
        "velocity": [
            0.2751588821411133,
            4.828814506530762,
            0.11286449432373047
        ],
        "speed": 4.836647800791688,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.92293930053711,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.476318359375,
                2350.312255859375,
                365.1876525878906
            ],
            "velocity": [
                -0.002049531787633896,
                1.9852360486984253,
                0.049361199140548706
            ],
            "speed_kmh": 7.149062424756333,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.756086826324463,
                "transform": {
                    "location": {
                        "x": 2388.2919921875,
                        "y": 2337.1640625,
                        "z": 364.8572692871094
                    },
                    "rotation": {
                        "roll": -0.008728045038878918,
                        "pitch": -0.8124099969863892,
                        "yaw": -89.81920623779297
                    }
                },
                "velocity": {
                    "x": 0.0240229032933712,
                    "y": -7.753785610198975,
                    "z": -0.18738584220409393
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9858506917953491,
                "transform": {
                    "location": {
                        "x": 2385.476318359375,
                        "y": 2350.312255859375,
                        "z": 365.1876525878906
                    },
                    "rotation": {
                        "roll": 0.009133175015449524,
                        "pitch": 1.3243120908737183,
                        "yaw": 90.07059478759766
                    }
                },
                "velocity": {
                    "x": -0.002049531787633896,
                    "y": 1.9852360486984253,
                    "z": 0.049361199140548706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.5701823234558105,
                "transform": {
                    "location": {
                        "x": 2385.54248046875,
                        "y": 2365.8095703125,
                        "z": 365.60174560546875
                    },
                    "rotation": {
                        "roll": 0.008334365673363209,
                        "pitch": 1.50352942943573,
                        "yaw": 90.06243133544922
                    }
                },
                "velocity": {
                    "x": -0.0023220637813210487,
                    "y": 4.568729877471924,
                    "z": 0.11519168317317963
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5464625954627991,
        "expert_target_speed": 5.958349798589308,
        "target_point": [
            22.23969654114728,
            1.6116371957842075
        ],
        "target_point_next": [
            22.23969654114728,
            1.6116371957842075
        ]
    },
    "245": {
        "acceleration": [
            -0.2528417110443115,
            -0.05046844482421875,
            -0.00520855188369751
        ],
        "angular_velocity": [
            -0.13233909010887146,
            0.1256914585828781,
            0.8063193559646606
        ],
        "forward_vector": [
            0.05640793591737747,
            0.9981071352958679,
            0.0245011355727911
        ],
        "right_vector": [
            -0.9984077215194702,
            0.056386325508356094,
            0.0015723879914730787
        ],
        "location": [
            2385.904052734375,
            2322.609619140625,
            364.511474609375
        ],
        "rotation": [
            -0.09011828899383545,
            1.4039521217346191,
            86.76537322998047
        ],
        "velocity": [
            0.25574663281440735,
            4.837183952331543,
            0.11503928899765015
        ],
        "speed": 4.843940021190365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.31563377380371,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.475341796875,
                2350.91357421875,
                365.2024841308594
            ],
            "velocity": [
                -0.002757483394816518,
                2.8086440563201904,
                0.06915708631277084
            ],
            "speed_kmh": 10.11418814184335,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.076929092407227,
                "transform": {
                    "location": {
                        "x": 2388.29541015625,
                        "y": 2335.29443359375,
                        "z": 364.8141784667969
                    },
                    "rotation": {
                        "roll": 0.011113626882433891,
                        "pitch": -1.3171950578689575,
                        "yaw": -89.91046905517578
                    }
                },
                "velocity": {
                    "x": 0.00026094616623595357,
                    "y": -7.074886798858643,
                    "z": -0.17001160979270935
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8094966411590576,
                "transform": {
                    "location": {
                        "x": 2385.475341796875,
                        "y": 2350.91357421875,
                        "z": 365.2024841308594
                    },
                    "rotation": {
                        "roll": 0.007103945128619671,
                        "pitch": 1.3192578554153442,
                        "yaw": 90.07330322265625
                    }
                },
                "velocity": {
                    "x": -0.002757483394816518,
                    "y": 2.8086440563201904,
                    "z": 0.06915708631277084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9724278450012207,
                "transform": {
                    "location": {
                        "x": 2385.541748046875,
                        "y": 2366.876220703125,
                        "z": 365.6293640136719
                    },
                    "rotation": {
                        "roll": 0.009343588724732399,
                        "pitch": 1.4091225862503052,
                        "yaw": 90.04195404052734
                    }
                },
                "velocity": {
                    "x": -0.0009433718514628708,
                    "y": 3.9711577892303467,
                    "z": 0.10043708235025406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.601716935634613,
        "expert_target_speed": 5.965795481416575,
        "target_point": [
            21.030448560510226,
            1.5815231520466944
        ],
        "target_point_next": [
            21.030448560510226,
            1.5815231520466944
        ]
    },
    "250": {
        "acceleration": [
            -0.8126446604728699,
            -0.2756690979003906,
            -0.013429373502731323
        ],
        "angular_velocity": [
            -0.09472969174385071,
            0.3214687705039978,
            5.455180644989014
        ],
        "forward_vector": [
            0.040994636714458466,
            0.9988706707954407,
            0.024016810581088066
        ],
        "right_vector": [
            -0.9991555213928223,
            0.04091617092490196,
            0.003749704686924815
        ],
        "location": [
            2385.94580078125,
            2323.813720703125,
            364.5400695800781
        ],
        "rotation": [
            -0.21490474045276642,
            1.3761942386627197,
            87.64984130859375
        ],
        "velocity": [
            0.06784634292125702,
            4.789637565612793,
            0.11439236998558044
        ],
        "speed": 4.7901180712146365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.945430755615234,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.474365234375,
                2351.746826171875,
                365.2230529785156
            ],
            "velocity": [
                -0.004742198158055544,
                3.849400281906128,
                0.09518575668334961
            ],
            "speed_kmh": 13.862087537520033,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.810331344604492,
                "transform": {
                    "location": {
                        "x": 2388.294677734375,
                        "y": 2333.64599609375,
                        "z": 364.7761535644531
                    },
                    "rotation": {
                        "roll": 0.010113172233104706,
                        "pitch": -1.7380303144454956,
                        "yaw": -90.02693939208984
                    }
                },
                "velocity": {
                    "x": -0.010551461949944496,
                    "y": -5.808645725250244,
                    "z": -0.1395665854215622
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8505799770355225,
                "transform": {
                    "location": {
                        "x": 2385.474365234375,
                        "y": 2351.746826171875,
                        "z": 365.2230529785156
                    },
                    "rotation": {
                        "roll": 0.007256557699292898,
                        "pitch": 1.3054540157318115,
                        "yaw": 90.0641098022461
                    }
                },
                "velocity": {
                    "x": -0.004742198158055544,
                    "y": 3.849400281906128,
                    "z": 0.09518575668334961
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.6695146560668945,
                "transform": {
                    "location": {
                        "x": 2385.54296875,
                        "y": 2367.935302734375,
                        "z": 365.6552734375
                    },
                    "rotation": {
                        "roll": 0.007859118282794952,
                        "pitch": 1.485285997390747,
                        "yaw": 89.9707260131836
                    }
                },
                "velocity": {
                    "x": 0.010462252423167229,
                    "y": 4.668022155761719,
                    "z": 0.11760282516479492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5857342481613159,
        "expert_target_speed": 5.915629815877658,
        "target_point": [
            19.84755617628487,
            1.2490193241282088
        ],
        "target_point_next": [
            19.84755617628487,
            1.2490193241282088
        ]
    },
    "255": {
        "acceleration": [
            -0.5501590967178345,
            -0.8878803253173828,
            -0.0010113418102264404
        ],
        "angular_velocity": [
            -0.19483669102191925,
            -0.21912866830825806,
            6.53479528427124
        ],
        "forward_vector": [
            0.013192101381719112,
            0.9996414184570312,
            0.023301636800169945
        ],
        "right_vector": [
            -0.9999061226844788,
            0.013102204538881779,
            0.004006423521786928
        ],
        "location": [
            2385.9443359375,
            2324.990478515625,
            364.5682067871094
        ],
        "rotation": [
            -0.22961413860321045,
            1.3352062702178955,
            89.2439193725586
        ],
        "velocity": [
            -0.10179299861192703,
            4.611036777496338,
            0.1102202758193016
        ],
        "speed": 4.6121602290022645,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.872150421142578,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.475830078125,
                2352.850341796875,
                365.2503356933594
            ],
            "velocity": [
                0.010035873390734196,
                4.921259880065918,
                0.12113012373447418
            ],
            "speed_kmh": 17.721938199440565,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.312495708465576,
                "transform": {
                    "location": {
                        "x": 2388.29296875,
                        "y": 2332.290283203125,
                        "z": 364.7436218261719
                    },
                    "rotation": {
                        "roll": 0.003069047350436449,
                        "pitch": -1.7217403650283813,
                        "yaw": -90.12217712402344
                    }
                },
                "velocity": {
                    "x": -0.008748698979616165,
                    "y": -5.310954570770264,
                    "z": -0.12765398621559143
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.922760963439941,
                "transform": {
                    "location": {
                        "x": 2385.475830078125,
                        "y": 2352.850341796875,
                        "z": 365.2503356933594
                    },
                    "rotation": {
                        "roll": 0.00470186909660697,
                        "pitch": 1.2972099781036377,
                        "yaw": 89.98748016357422
                    }
                },
                "velocity": {
                    "x": 0.010035873390734196,
                    "y": 4.921259880065918,
                    "z": 0.12113012373447418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.3523149490356445,
                "transform": {
                    "location": {
                        "x": 2385.54541015625,
                        "y": 2369.091064453125,
                        "z": 365.6846923828125
                    },
                    "rotation": {
                        "roll": 0.005543166305869818,
                        "pitch": 1.4393119812011719,
                        "yaw": 89.92362976074219
                    }
                },
                "velocity": {
                    "x": 0.009762049652636051,
                    "y": 4.350947380065918,
                    "z": 0.10866481810808182
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4969063997268677,
        "expert_target_speed": 5.744846209703164,
        "target_point": [
            18.697977955227827,
            0.679602146568941
        ],
        "target_point_next": [
            18.697977955227827,
            0.679602146568941
        ]
    },
    "260": {
        "acceleration": [
            -0.058883726596832275,
            -0.7300472259521484,
            -0.01600503921508789
        ],
        "angular_velocity": [
            -0.052700016647577286,
            -0.44348588585853577,
            4.383524417877197
        ],
        "forward_vector": [
            -0.010843370109796524,
            0.9996795058250427,
            0.022874504327774048
        ],
        "right_vector": [
            -0.9999381899833679,
            -0.010896667838096619,
            0.002206648699939251
        ],
        "location": [
            2385.9150390625,
            2326.11767578125,
            364.59503173828125
        ],
        "rotation": [
            -0.1264648586511612,
            1.3107268810272217,
            90.62145233154297
        ],
        "velocity": [
            -0.16254454851150513,
            4.419672012329102,
            0.10568848997354507
        ],
        "speed": 4.422659994484765,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.047222137451172,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.478515625,
                2354.153076171875,
                365.2823486328125
            ],
            "velocity": [
                0.01026536338031292,
                5.287225246429443,
                0.13006025552749634
            ],
            "speed_kmh": 19.039804705691544,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.438019275665283,
                "transform": {
                    "location": {
                        "x": 2388.2900390625,
                        "y": 2330.88525390625,
                        "z": 364.7082824707031
                    },
                    "rotation": {
                        "roll": 0.005214868579059839,
                        "pitch": -1.2529571056365967,
                        "yaw": -90.10420989990234
                    }
                },
                "velocity": {
                    "x": -0.01802693121135235,
                    "y": -6.436172962188721,
                    "z": -0.1531059294939041
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.288834571838379,
                "transform": {
                    "location": {
                        "x": 2385.478515625,
                        "y": 2354.153076171875,
                        "z": 365.2823486328125
                    },
                    "rotation": {
                        "roll": 0.005623409990221262,
                        "pitch": 1.3570765256881714,
                        "yaw": 89.96940612792969
                    }
                },
                "velocity": {
                    "x": 0.01026536338031292,
                    "y": 5.287225246429443,
                    "z": 0.13006025552749634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.294536590576172,
                "transform": {
                    "location": {
                        "x": 2385.54736328125,
                        "y": 2370.1328125,
                        "z": 365.7108459472656
                    },
                    "rotation": {
                        "roll": 0.0056636761873960495,
                        "pitch": 1.4322359561920166,
                        "yaw": 89.89844512939453
                    }
                },
                "velocity": {
                    "x": 0.010241994634270668,
                    "y": 4.293173313140869,
                    "z": 0.10771318525075912
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4230169355869293,
        "expert_target_speed": 5.560354460798807,
        "target_point": [
            17.58146573023483,
            0.21262306243287896
        ],
        "target_point_next": [
            17.58146573023483,
            0.21262306243287896
        ]
    },
    "265": {
        "acceleration": [
            0.3590865433216095,
            -0.7342147827148438,
            -0.03160625696182251
        ],
        "angular_velocity": [
            -0.008795560337603092,
            -0.4159582257270813,
            -0.13676296174526215
        ],
        "forward_vector": [
            -0.01860770583152771,
            0.9995668530464172,
            0.022800851613283157
        ],
        "right_vector": [
            -0.9998268485069275,
            -0.018597062677145004,
            -0.0006787719903513789
        ],
        "location": [
            2385.88720703125,
            2327.19921875,
            364.6207275390625
        ],
        "rotation": [
            0.038900889456272125,
            1.306505799293518,
            91.06648254394531
        ],
        "velocity": [
            -0.0817742645740509,
            4.238443851470947,
            0.10108768194913864
        ],
        "speed": 4.239232632495946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.37741470336914,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.481201171875,
                2355.565185546875,
                365.3170166015625
            ],
            "velocity": [
                0.011838897131383419,
                5.7986674308776855,
                0.14255407452583313
            ],
            "speed_kmh": 20.881553465595367,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.293814659118652,
                "transform": {
                    "location": {
                        "x": 2385.3671875,
                        "y": 2312.109619140625,
                        "z": 364.6534423828125
                    },
                    "rotation": {
                        "roll": -5.337577135833271e-08,
                        "pitch": 1.3549318313598633,
                        "yaw": 89.7375717163086
                    }
                },
                "velocity": {
                    "x": 0.019585713744163513,
                    "y": 4.276125907897949,
                    "z": -0.38885706663131714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.257523059844971,
                "transform": {
                    "location": {
                        "x": 2388.28564453125,
                        "y": 2329.255615234375,
                        "z": 364.6695861816406
                    },
                    "rotation": {
                        "roll": 0.004348717629909515,
                        "pitch": -1.282156229019165,
                        "yaw": -90.16915130615234
                    }
                },
                "velocity": {
                    "x": -0.020193057134747505,
                    "y": -6.255715847015381,
                    "z": -0.14903132617473602
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.800431251525879,
                "transform": {
                    "location": {
                        "x": 2385.481201171875,
                        "y": 2355.565185546875,
                        "z": 365.3170166015625
                    },
                    "rotation": {
                        "roll": 0.006125614978373051,
                        "pitch": 1.3749648332595825,
                        "yaw": 89.93213653564453
                    }
                },
                "velocity": {
                    "x": 0.011838897131383419,
                    "y": 5.7986674308776855,
                    "z": 0.14255407452583313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.0357747077941895,
                "transform": {
                    "location": {
                        "x": 2385.550048828125,
                        "y": 2371.20556640625,
                        "z": 365.7377014160156
                    },
                    "rotation": {
                        "roll": 0.0025085697416216135,
                        "pitch": 1.4194976091384888,
                        "yaw": 89.8809585571289
                    }
                },
                "velocity": {
                    "x": 0.009358564391732216,
                    "y": 4.034530162811279,
                    "z": 0.09979244321584702
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.38664695620536804,
        "expert_target_speed": 5.382650275424432,
        "target_point": [
            16.500713540986535,
            0.06828470853824381
        ],
        "target_point_next": [
            16.500713540986535,
            0.06828470853824381
        ]
    },
    "270": {
        "acceleration": [
            0.04658259451389313,
            0.20529747009277344,
            -0.0015598535537719727
        ],
        "angular_velocity": [
            0.24997538328170776,
            0.09402411431074142,
            -0.5963743925094604
        ],
        "forward_vector": [
            -0.016236992552876472,
            0.9995994567871094,
            0.02317959815263748
        ],
        "right_vector": [
            -0.9998679757118225,
            -0.016216769814491272,
            -0.0010601270478218794
        ],
        "location": [
            2385.87158203125,
            2328.2431640625,
            364.6454162597656
        ],
        "rotation": [
            0.06075714901089668,
            1.3282121419906616,
            90.93060302734375
        ],
        "velocity": [
            -0.0525093600153923,
            4.163890361785889,
            0.09952586889266968
        ],
        "speed": 4.164221437179181,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.040916442871094,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.484619140625,
                2357.272705078125,
                365.3601989746094
            ],
            "velocity": [
                0.02168523520231247,
                7.5165557861328125,
                0.18682067096233368
            ],
            "speed_kmh": 27.068070137294303,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.381407737731934,
                "transform": {
                    "location": {
                        "x": 2385.370361328125,
                        "y": 2313.170166015625,
                        "z": 364.30169677734375
                    },
                    "rotation": {
                        "roll": -0.01675407961010933,
                        "pitch": 1.3410598039627075,
                        "yaw": 89.7977523803711
                    }
                },
                "velocity": {
                    "x": -0.015902895480394363,
                    "y": 4.16362190246582,
                    "z": -1.3640872240066528
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.58528470993042,
                "transform": {
                    "location": {
                        "x": 2388.2802734375,
                        "y": 2327.84375,
                        "z": 364.6376037597656
                    },
                    "rotation": {
                        "roll": -6.118026794865727e-05,
                        "pitch": -1.7560415267944336,
                        "yaw": -90.0456771850586
                    }
                },
                "velocity": {
                    "x": -0.016645805910229683,
                    "y": -4.583864212036133,
                    "z": -0.11292007565498352
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.5189080238342285,
                "transform": {
                    "location": {
                        "x": 2385.484619140625,
                        "y": 2357.272705078125,
                        "z": 365.3601989746094
                    },
                    "rotation": {
                        "roll": 0.003273693611845374,
                        "pitch": 1.2714054584503174,
                        "yaw": 89.9135513305664
                    }
                },
                "velocity": {
                    "x": 0.02168523520231247,
                    "y": 7.5165557861328125,
                    "z": 0.18682067096233368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.004907131195068,
                "transform": {
                    "location": {
                        "x": 2385.552734375,
                        "y": 2372.204833984375,
                        "z": 365.7625732421875
                    },
                    "rotation": {
                        "roll": 0.0050386544317007065,
                        "pitch": 1.4214305877685547,
                        "yaw": 89.86418914794922
                    }
                },
                "velocity": {
                    "x": 0.013980754651129246,
                    "y": 4.003670692443848,
                    "z": 0.09851772338151932
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3948821723461151,
        "expert_target_speed": 5.316920719645683,
        "target_point": [
            15.456444051763485,
            0.10872174372221288
        ],
        "target_point_next": [
            15.456444051763485,
            0.10872174372221288
        ]
    },
    "275": {
        "acceleration": [
            0.0372854620218277,
            0.97564697265625,
            0.04160389304161072
        ],
        "angular_velocity": [
            0.3390747010707855,
            0.07501333206892014,
            -0.6276057958602905
        ],
        "forward_vector": [
            -0.013560839928686619,
            0.9995977282524109,
            0.02490703947842121
        ],
        "right_vector": [
            -0.9999078512191772,
            -0.013542786240577698,
            -0.0008933990611694753
        ],
        "location": [
            2385.859130859375,
            2329.312255859375,
            364.6705627441406
        ],
        "rotation": [
            0.0512038879096508,
            1.427215814590454,
            90.7772445678711
        ],
        "velocity": [
            -0.04380199313163757,
            4.390414237976074,
            0.10470499098300934
        ],
        "speed": 4.390632732946965,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.795989990234375,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.48974609375,
                2359.096923828125,
                365.4040832519531
            ],
            "velocity": [
                0.02411460317671299,
                6.791808128356934,
                0.1696590930223465
            ],
            "speed_kmh": 24.45829067885847,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.07459020614624,
                "transform": {
                    "location": {
                        "x": 2385.366455078125,
                        "y": 2314.1962890625,
                        "z": 364.2254943847656
                    },
                    "rotation": {
                        "roll": -0.010009841062128544,
                        "pitch": 1.3456155061721802,
                        "yaw": 90.02993774414062
                    }
                },
                "velocity": {
                    "x": -0.026475565508008003,
                    "y": 4.0579118728637695,
                    "z": 0.3673366606235504
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.743213176727295,
                "transform": {
                    "location": {
                        "x": 2388.27734375,
                        "y": 2326.729248046875,
                        "z": 364.6104736328125
                    },
                    "rotation": {
                        "roll": -0.006011930759996176,
                        "pitch": -1.629669427871704,
                        "yaw": -90.08549499511719
                    }
                },
                "velocity": {
                    "x": -0.013537287712097168,
                    "y": -4.741878032684326,
                    "z": -0.11171163618564606
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.793969631195068,
                "transform": {
                    "location": {
                        "x": 2385.48974609375,
                        "y": 2359.096923828125,
                        "z": 365.4040832519531
                    },
                    "rotation": {
                        "roll": 0.0011071653570979834,
                        "pitch": 1.4504178762435913,
                        "yaw": 89.81653594970703
                    }
                },
                "velocity": {
                    "x": 0.02411460317671299,
                    "y": 6.791808128356934,
                    "z": 0.1696590930223465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.962991952896118,
                "transform": {
                    "location": {
                        "x": 2385.55615234375,
                        "y": 2373.204833984375,
                        "z": 365.7873840332031
                    },
                    "rotation": {
                        "roll": 0.001874397392384708,
                        "pitch": 1.4226804971694946,
                        "yaw": 89.8336181640625
                    }
                },
                "velocity": {
                    "x": 0.013742122799158096,
                    "y": 3.9617292881011963,
                    "z": 0.09908048063516617
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.37100642919540405,
        "expert_target_speed": 5.541547652048578,
        "target_point": [
            14.386934403812846,
            0.15224373130883756
        ],
        "target_point_next": [
            14.386934403812846,
            0.15224373130883756
        ]
    },
    "280": {
        "acceleration": [
            0.049491673707962036,
            -0.1439380645751953,
            0.0005257129669189453
        ],
        "angular_velocity": [
            -0.16149188578128815,
            0.0386027917265892,
            -0.6346546411514282
        ],
        "forward_vector": [
            -0.010787265375256538,
            0.9996272921562195,
            0.0250774547457695
        ],
        "right_vector": [
            -0.9999416470527649,
            -0.010772098787128925,
            -0.0007398305460810661
        ],
        "location": [
            2385.84912109375,
            2330.422607421875,
            364.6969909667969
        ],
        "rotation": [
            0.04240250587463379,
            1.4369829893112183,
            90.61827087402344
        ],
        "velocity": [
            -0.03206881880760193,
            4.446034908294678,
            0.10771486163139343
        ],
        "speed": 4.446150561431155,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.207042694091797,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.49560546875,
                2360.618408203125,
                365.44134521484375
            ],
            "velocity": [
                0.02021017298102379,
                5.263729572296143,
                0.1311437040567398
            ],
            "speed_kmh": 18.955446485820868,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.142155885696411,
                "transform": {
                    "location": {
                        "x": 2385.361572265625,
                        "y": 2315.109375,
                        "z": 364.3374938964844
                    },
                    "rotation": {
                        "roll": 0.012377005070447922,
                        "pitch": 1.1917176246643066,
                        "yaw": 90.17203521728516
                    }
                },
                "velocity": {
                    "x": -0.02261246182024479,
                    "y": 3.1237196922302246,
                    "z": 0.33912795782089233
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.076150417327881,
                "transform": {
                    "location": {
                        "x": 2388.27294921875,
                        "y": 2325.448486328125,
                        "z": 364.57940673828125
                    },
                    "rotation": {
                        "roll": 0.0001853724243119359,
                        "pitch": -1.3334646224975586,
                        "yaw": -90.15386962890625
                    }
                },
                "velocity": {
                    "x": -0.018526937812566757,
                    "y": -5.0746893882751465,
                    "z": -0.12036505341529846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.265401840209961,
                "transform": {
                    "location": {
                        "x": 2385.49560546875,
                        "y": 2360.618408203125,
                        "z": 365.44134521484375
                    },
                    "rotation": {
                        "roll": 0.0020383805967867374,
                        "pitch": 1.547071933746338,
                        "yaw": 89.84695434570312
                    }
                },
                "velocity": {
                    "x": 0.02021017298102379,
                    "y": 5.263729572296143,
                    "z": 0.1311437040567398
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.46323823928833,
                "transform": {
                    "location": {
                        "x": 2385.56005859375,
                        "y": 2374.225341796875,
                        "z": 365.8123474121094
                    },
                    "rotation": {
                        "roll": 0.0012335171923041344,
                        "pitch": 1.4616057872772217,
                        "yaw": 89.81845092773438
                    }
                },
                "velocity": {
                    "x": 0.015398380346596241,
                    "y": 4.461862087249756,
                    "z": 0.10975334048271179
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3610056936740875,
        "expert_target_speed": 5.592952129397847,
        "target_point": [
            13.276061662588045,
            0.19413662221379663
        ],
        "target_point_next": [
            13.276061662588045,
            0.19413662221379663
        ]
    },
    "285": {
        "acceleration": [
            0.05208633840084076,
            -0.1529216766357422,
            -0.01606762409210205
        ],
        "angular_velocity": [
            -0.09020692855119705,
            -0.002248989650979638,
            -0.6323218941688538
        ],
        "forward_vector": [
            -0.008022370748221874,
            0.9996689558029175,
            0.02444726787507534
        ],
        "right_vector": [
            -0.9999676942825317,
            -0.00800872128456831,
            -0.0006561568006873131
        ],
        "location": [
            2385.842041015625,
            2331.528564453125,
            364.7235412597656
        ],
        "rotation": [
            0.03760625794529915,
            1.400864839553833,
            90.45979309082031
        ],
        "velocity": [
            -0.019601909443736076,
            4.403939723968506,
            0.10600650310516357
        ],
        "speed": 4.403983347743454,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.922597885131836,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.503662109375,
                2361.440185546875,
                365.45989990234375
            ],
            "velocity": [
                -0.0295766219496727,
                1.641196846961975,
                0.04098542034626007
            ],
            "speed_kmh": 5.9111097490703015,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8493943214416504,
                "transform": {
                    "location": {
                        "x": 2385.35595703125,
                        "y": 2315.941162109375,
                        "z": 364.3782043457031
                    },
                    "rotation": {
                        "roll": 0.012664093635976315,
                        "pitch": 1.3847730159759521,
                        "yaw": 90.26142120361328
                    }
                },
                "velocity": {
                    "x": -0.02812148816883564,
                    "y": 3.848813772201538,
                    "z": 0.060649022459983826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.689933776855469,
                "transform": {
                    "location": {
                        "x": 2388.268310546875,
                        "y": 2324.24267578125,
                        "z": 364.5510559082031
                    },
                    "rotation": {
                        "roll": 0.00027143009356223047,
                        "pitch": -1.476987361907959,
                        "yaw": -90.19085693359375
                    }
                },
                "velocity": {
                    "x": -0.018433919176459312,
                    "y": -4.688582420349121,
                    "z": -0.11105527728796005
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.641974925994873,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2361.440185546875,
                        "z": 365.45989990234375
                    },
                    "rotation": {
                        "roll": 0.029159612953662872,
                        "pitch": 1.7427841424942017,
                        "yaw": 91.1554183959961
                    }
                },
                "velocity": {
                    "x": -0.0295766219496727,
                    "y": 1.641196846961975,
                    "z": 0.04098542034626007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.360340595245361,
                "transform": {
                    "location": {
                        "x": 2385.563720703125,
                        "y": 2375.366455078125,
                        "z": 365.8408508300781
                    },
                    "rotation": {
                        "roll": 0.001920787151902914,
                        "pitch": 1.4286227226257324,
                        "yaw": 89.80850982666016
                    }
                },
                "velocity": {
                    "x": 0.015869587659835815,
                    "y": 4.359005928039551,
                    "z": 0.10669999569654465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3569720983505249,
        "expert_target_speed": 5.536937550790822,
        "target_point": [
            12.169496740027842,
            0.23259784621561214
        ],
        "target_point_next": [
            12.169496740027842,
            0.23259784621561214
        ]
    },
    "290": {
        "acceleration": [
            0.030149873346090317,
            -0.8807373046875,
            -0.015961527824401855
        ],
        "angular_velocity": [
            -0.21631574630737305,
            0.006180047057569027,
            -0.5775220990180969
        ],
        "forward_vector": [
            -0.005317618139088154,
            0.9997003078460693,
            0.023897279053926468
        ],
        "right_vector": [
            -0.9999857544898987,
            -0.005305211525410414,
            -0.0005825356929562986
        ],
        "location": [
            2385.838134765625,
            2332.6181640625,
            364.7497253417969
        ],
        "rotation": [
            0.03338637575507164,
            1.3693435192108154,
            90.30476379394531
        ],
        "velocity": [
            -0.008171751163899899,
            4.284999370574951,
            0.10260926932096481
        ],
        "speed": 4.2850071625780055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.96291160583496,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.503662109375,
                2361.5703125,
                365.46490478515625
            ],
            "velocity": [
                -0.0005022972472943366,
                0.8296430110931396,
                0.020919809117913246
            ],
            "speed_kmh": 2.98766474002185,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.122945785522461,
                "transform": {
                    "location": {
                        "x": 2385.34814453125,
                        "y": 2317.142822265625,
                        "z": 364.3896484375
                    },
                    "rotation": {
                        "roll": 0.01634545437991619,
                        "pitch": 1.7702209949493408,
                        "yaw": 90.33211517333984
                    }
                },
                "velocity": {
                    "x": -0.025834940373897552,
                    "y": 5.122345447540283,
                    "z": 0.07406304776668549
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.509176254272461,
                "transform": {
                    "location": {
                        "x": 2388.263427734375,
                        "y": 2323.0849609375,
                        "z": 364.52362060546875
                    },
                    "rotation": {
                        "roll": -0.0013733176747336984,
                        "pitch": -1.466304898262024,
                        "yaw": -90.2087631225586
                    }
                },
                "velocity": {
                    "x": -0.017676234245300293,
                    "y": -4.507861614227295,
                    "z": -0.10744217038154602
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8299068212509155,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2361.5703125,
                        "z": 365.46490478515625
                    },
                    "rotation": {
                        "roll": 0.030291786417365074,
                        "pitch": 1.5402007102966309,
                        "yaw": 91.29176330566406
                    }
                },
                "velocity": {
                    "x": -0.0005022972472943366,
                    "y": 0.8296430110931396,
                    "z": 0.020919809117913246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.1026611328125,
                "transform": {
                    "location": {
                        "x": 2385.5673828125,
                        "y": 2376.4111328125,
                        "z": 365.8670349121094
                    },
                    "rotation": {
                        "roll": 7.462068606400862e-05,
                        "pitch": 1.398180603981018,
                        "yaw": 89.80486297607422
                    }
                },
                "velocity": {
                    "x": 0.012857181951403618,
                    "y": 4.101388931274414,
                    "z": 0.10133365541696548
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3504938781261444,
        "expert_target_speed": 5.411439252839015,
        "target_point": [
            11.079218246567192,
            0.26740555863216897
        ],
        "target_point_next": [
            11.079218246567192,
            0.26740555863216897
        ]
    },
    "295": {
        "acceleration": [
            0.03608934208750725,
            -2.835116386413574,
            -0.07254302501678467
        ],
        "angular_velocity": [
            -0.6203632354736328,
            -0.01540316827595234,
            -0.5171070694923401
        ],
        "forward_vector": [
            -0.002924115164205432,
            0.9997480511665344,
            0.022255487740039825
        ],
        "right_vector": [
            -0.9999955892562866,
            -0.0029147774912416935,
            -0.0004519978247117251
        ],
        "location": [
            2385.8369140625,
            2333.641357421875,
            364.7746276855469
        ],
        "rotation": [
            0.025903984904289246,
            1.2752509117126465,
            90.1675796508789
        ],
        "velocity": [
            0.0019285626476630569,
            3.830491304397583,
            0.09154750406742096
        ],
        "speed": 3.830491789890612,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.256731033325195,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.503173828125,
                2361.887451171875,
                365.474365234375
            ],
            "velocity": [
                0.006361284293234348,
                1.6564993858337402,
                0.04165862128138542
            ],
            "speed_kmh": 5.965327228262083,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.471550464630127,
                "transform": {
                    "location": {
                        "x": 2385.343017578125,
                        "y": 2318.59423828125,
                        "z": 364.4205017089844
                    },
                    "rotation": {
                        "roll": 0.027647869661450386,
                        "pitch": 1.6514849662780762,
                        "yaw": 90.22980499267578
                    }
                },
                "velocity": {
                    "x": -0.013034244067966938,
                    "y": 6.4696478843688965,
                    "z": 0.1563548445701599
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.33043098449707,
                "transform": {
                    "location": {
                        "x": 2388.2587890625,
                        "y": 2321.98486328125,
                        "z": 364.4976806640625
                    },
                    "rotation": {
                        "roll": -9.14904594537802e-05,
                        "pitch": -1.466304898262024,
                        "yaw": -90.22087860107422
                    }
                },
                "velocity": {
                    "x": -0.017724931240081787,
                    "y": -4.3291730880737305,
                    "z": -0.10284948348999023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6570353507995605,
                "transform": {
                    "location": {
                        "x": 2385.503173828125,
                        "y": 2361.887451171875,
                        "z": 365.474365234375
                    },
                    "rotation": {
                        "roll": 0.027836304157972336,
                        "pitch": 1.358162522315979,
                        "yaw": 91.08308410644531
                    }
                },
                "velocity": {
                    "x": 0.006361284293234348,
                    "y": 1.6564993858337402,
                    "z": 0.04165862128138542
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.238182067871094,
                "transform": {
                    "location": {
                        "x": 2385.571533203125,
                        "y": 2377.48046875,
                        "z": 365.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0017715456197038293,
                        "pitch": 1.4309518337249756,
                        "yaw": 89.78852081298828
                    }
                },
                "velocity": {
                    "x": 0.0173505712300539,
                    "y": 4.236822605133057,
                    "z": 0.1059333011507988
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35488161444664,
        "expert_target_speed": 4.96317061894142,
        "target_point": [
            10.055358946760197,
            0.2955329253428028
        ],
        "target_point_next": [
            10.055358946760197,
            0.2955329253428028
        ]
    },
    "300": {
        "acceleration": [
            -7.506459951400757e-05,
            -3.2248830795288086,
            -0.07355690002441406
        ],
        "angular_velocity": [
            -0.39716485142707825,
            0.07748889178037643,
            -0.38348641991615295
        ],
        "forward_vector": [
            -0.0009207556140609086,
            0.9998044371604919,
            0.019756222143769264
        ],
        "right_vector": [
            -0.9999995231628418,
            -0.0009148086537607014,
            -0.00031005218625068665
        ],
        "location": [
            2385.837646484375,
            2334.4931640625,
            364.7956237792969
        ],
        "rotation": [
            0.017768148332834244,
            1.1320217847824097,
            90.05276489257812
        ],
        "velocity": [
            0.007414140738546848,
            3.02891206741333,
            0.07341627031564713
        ],
        "speed": 3.0289211415296013,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.934406280517578,
        "front_vehicle_info": {
            "id": 4034,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2385.503173828125,
                2362.4169921875,
                365.48773193359375
            ],
            "velocity": [
                0.01147414930164814,
                2.5394718647003174,
                0.06350208073854446
            ],
            "speed_kmh": 9.145049837188651,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4046,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.522812366485596,
                "transform": {
                    "location": {
                        "x": 2385.33984375,
                        "y": 2320.18017578125,
                        "z": 364.463623046875
                    },
                    "rotation": {
                        "roll": 0.014760042540729046,
                        "pitch": 1.2140319347381592,
                        "yaw": 90.1108627319336
                    }
                },
                "velocity": {
                    "x": -0.004003115929663181,
                    "y": 4.521421909332275,
                    "z": 0.11206172406673431
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4045,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.110193729400635,
                "transform": {
                    "location": {
                        "x": 2388.25439453125,
                        "y": 2320.932373046875,
                        "z": 364.4728088378906
                    },
                    "rotation": {
                        "roll": -0.0005493711214512587,
                        "pitch": -1.471769094467163,
                        "yaw": -90.22869110107422
                    }
                },
                "velocity": {
                    "x": -0.01773926243185997,
                    "y": -4.108994007110596,
                    "z": -0.09771185368299484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4034,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5402915477752686,
                "transform": {
                    "location": {
                        "x": 2385.503173828125,
                        "y": 2362.4169921875,
                        "z": 365.48773193359375
                    },
                    "rotation": {
                        "roll": 0.022445853799581528,
                        "pitch": 1.3383413553237915,
                        "yaw": 90.78775787353516
                    }
                },
                "velocity": {
                    "x": 0.01147414930164814,
                    "y": 2.5394718647003174,
                    "z": 0.06350208073854446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.434250593185425,
                "transform": {
                    "location": {
                        "x": 2385.574951171875,
                        "y": 2378.4130859375,
                        "z": 365.91656494140625
                    },
                    "rotation": {
                        "roll": 0.00100837298668921,
                        "pitch": 1.3498296737670898,
                        "yaw": 89.78717803955078
                    }
                },
                "velocity": {
                    "x": 0.012838242575526237,
                    "y": 3.433201551437378,
                    "z": 0.08390703052282333
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34598833322525024,
        "expert_target_speed": 4.172653019682598,
        "target_point": [
            9.202909159243097,
            0.31814221983267343
        ],
        "target_point_next": [
            9.202909159243097,
            0.31814221983267343
        ]
    }
}