{
    "0": {
        "acceleration": [
            0.005827257409691811,
            -0.00027695088647305965,
            -0.467071533203125
        ],
        "angular_velocity": [
            0.01550822053104639,
            -0.019100140780210495,
            3.4896802389994264e-05
        ],
        "forward_vector": [
            -0.9871126413345337,
            -0.15972618758678436,
            -0.00980349536985159
        ],
        "right_vector": [
            0.15973351895809174,
            -0.9871601462364197,
            3.515195203362964e-05
        ],
        "location": [
            3041.289306640625,
            4270.37841796875,
            361.6891784667969
        ],
        "rotation": [
            -0.0020141552668064833,
            -0.5617079138755798,
            -170.8085479736328
        ],
        "velocity": [
            -0.0009710387093946338,
            -0.00012818357208743691,
            0.09173447638750076
        ],
        "speed": 0.0009794627115392862,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 110.36344146728516,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.71343994140625
            ],
            "velocity": [
                -0.0019226723816245794,
                -0.0007519387872889638,
                0.19042380154132843
            ],
            "speed_kmh": 0.6855659721115368,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.2995576858520508,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.2333984375,
                        "z": 360.5933532714844
                    },
                    "rotation": {
                        "roll": -0.0349426306784153,
                        "pitch": -0.3510443866252899,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0020480849780142307,
                    "y": -0.0007971561281010509,
                    "z": 0.2995496392250061
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.23036712408065796,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6310119628906
                    },
                    "rotation": {
                        "roll": -0.007934571243822575,
                        "pitch": -0.3630313575267792,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.0022514420561492443,
                    "y": -0.0007431417470797896,
                    "z": 0.2303549200296402
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.190434992313385,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.71343994140625
                    },
                    "rotation": {
                        "roll": -0.01031493954360485,
                        "pitch": -0.3865955173969269,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.0019226723816245794,
                    "y": -0.0007519387872889638,
                    "z": 0.19042380154132843
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0016746199689805508,
        "expert_target_speed": 1.290564083465906,
        "target_point": [
            51.00118453740702,
            -0.0006452779191583602
        ],
        "target_point_next": [
            102.00124204065361,
            -0.0006135560601130408
        ]
    },
    "5": {
        "acceleration": [
            0.0021442025899887085,
            -0.0009128163219429553,
            -0.1457834243774414
        ],
        "angular_velocity": [
            0.017206761986017227,
            -0.0007457028841599822,
            8.41166329337284e-05
        ],
        "forward_vector": [
            -0.9871120452880859,
            -0.1597260981798172,
            -0.009863096289336681
        ],
        "right_vector": [
            0.1597338318824768,
            -0.9871600866317749,
            2.662942051756545e-06
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.701904296875
        ],
        "rotation": [
            -0.00015258276835083961,
            -0.5651229619979858,
            -170.8085479736328
        ],
        "velocity": [
            -0.00024796396610327065,
            -0.00020245536870788783,
            0.02537618577480316
        ],
        "speed": 0.00032011608020265204,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000309944152832,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.481689453125,
                4267.98291015625,
                361.5899963378906
            ],
            "velocity": [
                0.005942147690802813,
                0.0009781555272638798,
                -0.6354828476905823
            ],
            "speed_kmh": 2.2878409722679267,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2961.61767578125,
                        "y": 4267.36376953125,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2962.137451171875,
                        "y": 4264.1552734375,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6355113983154297,
                "transform": {
                    "location": {
                        "x": 3026.481689453125,
                        "y": 4267.98291015625,
                        "z": 361.5899963378906
                    },
                    "rotation": {
                        "roll": 0.00012723820691462606,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": 0.005942147690802813,
                    "y": 0.0009781555272638798,
                    "z": -0.6354828476905823
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.455066442489624,
                "transform": {
                    "location": {
                        "x": 3011.674072265625,
                        "y": 4265.5869140625,
                        "z": 361.419677734375
                    },
                    "rotation": {
                        "roll": 0.00015518019790761173,
                        "pitch": -0.5383281707763672,
                        "yaw": -170.808349609375
                    }
                },
                "velocity": {
                    "x": 0.004200247582048178,
                    "y": 0.000650207104627043,
                    "z": -0.4550465941429138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5149082541465759,
                "transform": {
                    "location": {
                        "x": 3025.962158203125,
                        "y": 4271.19091796875,
                        "z": 361.5514831542969
                    },
                    "rotation": {
                        "roll": -0.0002441442047711462,
                        "pitch": -0.5597203373908997,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": 0.004840696230530739,
                    "y": 0.0008109475602395833,
                    "z": -0.514884889125824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4137980341911316,
                "transform": {
                    "location": {
                        "x": 3011.154296875,
                        "y": 4268.79541015625,
                        "z": 361.4122314453125
                    },
                    "rotation": {
                        "roll": -0.0008850059821270406,
                        "pitch": -0.5416886210441589,
                        "yaw": -170.8083038330078
                    }
                },
                "velocity": {
                    "x": 0.003810352412983775,
                    "y": 0.0006569746183231473,
                    "z": -0.41377997398376465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.07680025696754456,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23388671875,
                        "z": 360.6416015625
                    },
                    "rotation": {
                        "roll": -0.005310059059411287,
                        "pitch": -0.39141762256622314,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0002801491937134415,
                    "y": -0.00022055883891880512,
                    "z": 0.0767994299530983
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.056672353297472,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6632080078125
                    },
                    "rotation": {
                        "roll": -0.0012207062682136893,
                        "pitch": -0.4026122987270355,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0006512504769489169,
                    "y": -0.00012264274118933827,
                    "z": 0.0566684789955616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.039306823164224625,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7379150390625
                    },
                    "rotation": {
                        "roll": -0.0023193336091935635,
                        "pitch": -0.414790540933609,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -0.0003704605042003095,
                    "y": -0.00045210443204268813,
                    "z": 0.03930247575044632
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007013451540842652,
        "expert_target_speed": 0.9958089239731454,
        "target_point": [
            51.000943531532585,
            -0.000606280313292018
        ],
        "target_point_next": [
            102.00100103477916,
            -0.0005745584542466986
        ]
    },
    "10": {
        "acceleration": [
            0.0018376855878159404,
            -0.0011696361470967531,
            -0.044169045984745026
        ],
        "angular_velocity": [
            0.011626709252595901,
            0.00429266132414341,
            -2.0272345864214003e-05
        ],
        "forward_vector": [
            -0.9871118664741516,
            -0.15972605347633362,
            -0.009888130240142345
        ],
        "right_vector": [
            0.1597338765859604,
            -0.9871600866317749,
            -9.083886993721535e-07
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.7052001953125
        ],
        "rotation": [
            5.204938133829273e-05,
            -0.5665573477745056,
            -170.8085479736328
        ],
        "velocity": [
            -6.429888162529096e-05,
            -4.481550058699213e-05,
            0.006105388980358839
        ],
        "speed": 7.837585898174177e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000149726867676,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.482421875,
                4267.98291015625,
                361.5336608886719
            ],
            "velocity": [
                -0.0005980795249342918,
                -5.6321918236790225e-05,
                0.06121698394417763
            ],
            "speed_kmh": 0.2203917528599885,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2963.671142578125,
                        "y": 4267.6962890625,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2964.191162109375,
                        "y": 4264.48779296875,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06121993064880371,
                "transform": {
                    "location": {
                        "x": 3026.482421875,
                        "y": 4267.98291015625,
                        "z": 361.5336608886719
                    },
                    "rotation": {
                        "roll": 0.00012135158613091335,
                        "pitch": -0.5546591281890869,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.0005980795249342918,
                    "y": -5.6321918236790225e-05,
                    "z": 0.06121698394417763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09450289607048035,
                "transform": {
                    "location": {
                        "x": 3011.674072265625,
                        "y": 4265.5869140625,
                        "z": 361.41253662109375
                    },
                    "rotation": {
                        "roll": 0.00017831647710409015,
                        "pitch": -0.537720263004303,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.0008979752310551703,
                    "y": -0.00017542477871757,
                    "z": 0.09449846297502518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10418398678302765,
                "transform": {
                    "location": {
                        "x": 3025.962158203125,
                        "y": 4271.19091796875,
                        "z": 361.5427551269531
                    },
                    "rotation": {
                        "roll": 0.00024749580188654363,
                        "pitch": -0.5529789328575134,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0009976971196010709,
                    "y": -0.00014849482977297157,
                    "z": 0.10417910665273666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05094490945339203,
                "transform": {
                    "location": {
                        "x": 3011.154296875,
                        "y": 4268.79541015625,
                        "z": 361.40350341796875
                    },
                    "rotation": {
                        "roll": -0.0006408658227883279,
                        "pitch": -0.5423921346664429,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": -0.0004891977878287435,
                    "y": -0.00010132126044481993,
                    "z": 0.05094246193766594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0017527153249830008,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 9.901821584890058e-08,
                    "y": 9.074873378267512e-05,
                    "z": -0.0017503644339740276
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.008419835940003395,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6694030761719
                    },
                    "rotation": {
                        "roll": 0.00011138366244267672,
                        "pitch": -0.41259804368019104,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.00010654978541424498,
                    "y": -5.260106991045177e-05,
                    "z": 0.008418997749686241
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.006377216894179583,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.74224853515625
                    },
                    "rotation": {
                        "roll": 0.0003674694162327796,
                        "pitch": -0.42099234461784363,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -0.00010093949822476134,
                    "y": -9.142316412180662e-05,
                    "z": 0.0063757626339793205
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005834044422954321,
        "expert_target_speed": 0.9753113543723697,
        "target_point": [
            51.00094353181588,
            -0.0005819611683151038
        ],
        "target_point_next": [
            102.00100103504154,
            -0.0005259205867851335
        ]
    },
    "15": {
        "acceleration": [
            -1.5562764019705355e-05,
            8.35191531223245e-06,
            0.0005576945841312408
        ],
        "angular_velocity": [
            -0.0003595055895857513,
            -0.0033237577881664038,
            -0.00014091732737142593
        ],
        "forward_vector": [
            -0.9871119856834412,
            -0.1597253531217575,
            -0.009887056425213814
        ],
        "right_vector": [
            0.15973317623138428,
            -0.9871602058410645,
            -1.6656703110129456e-06
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.7057189941406
        ],
        "rotation": [
            9.544054046273232e-05,
            -0.5664958357810974,
            -170.80859375
        ],
        "velocity": [
            -5.059428440290503e-05,
            1.482386096540722e-06,
            0.002074386226013303
        ],
        "speed": 5.0615996313233394e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.008091926574707,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.474365234375,
                4267.98095703125,
                361.5651550292969
            ],
            "velocity": [
                -0.09401258081197739,
                -0.017088310793042183,
                0.11124002188444138
            ],
            "speed_kmh": 0.5279215355377992,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2965.7265625,
                        "y": 4268.0283203125,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2966.24658203125,
                        "y": 4264.81982421875,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.14664487540721893,
                "transform": {
                    "location": {
                        "x": 3026.474365234375,
                        "y": 4267.98095703125,
                        "z": 361.5651550292969
                    },
                    "rotation": {
                        "roll": -0.001190182869322598,
                        "pitch": -0.538061797618866,
                        "yaw": -170.80526733398438
                    }
                },
                "velocity": {
                    "x": -0.09401258081197739,
                    "y": -0.017088310793042183,
                    "z": 0.11124002188444138
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020868975669145584,
                "transform": {
                    "location": {
                        "x": 3011.673583984375,
                        "y": 4265.5869140625,
                        "z": 361.4264831542969
                    },
                    "rotation": {
                        "roll": 4.338761937106028e-05,
                        "pitch": -0.5379320383071899,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.00021798610396217555,
                    "y": -2.889973984565586e-05,
                    "z": 0.020867817103862762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.022741664201021194,
                "transform": {
                    "location": {
                        "x": 3025.9619140625,
                        "y": 4271.19091796875,
                        "z": 361.5583190917969
                    },
                    "rotation": {
                        "roll": 0.00025386924971826375,
                        "pitch": -0.5496799349784851,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -0.00023824840900488198,
                    "y": 5.547124601434916e-06,
                    "z": 0.02274041436612606
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1370534896850586,
                "transform": {
                    "location": {
                        "x": 3011.057373046875,
                        "y": 4268.77880859375,
                        "z": 361.4100036621094
                    },
                    "rotation": {
                        "roll": -0.0029602041468024254,
                        "pitch": -0.4735642969608307,
                        "yaw": -170.73683166503906
                    }
                },
                "velocity": {
                    "x": -1.1208763122558594,
                    "y": -0.1909913271665573,
                    "z": 0.0070115565322339535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0012090823147445917,
        "expert_target_speed": 0.9720591143916171,
        "target_point": [
            51.00094353234769,
            -0.0005333228783559463
        ],
        "target_point_next": [
            102.00100103549671,
            -0.00042864485184423984
        ]
    },
    "20": {
        "acceleration": [
            0.0007357969880104065,
            -0.00013865585788153112,
            -0.03188001364469528
        ],
        "angular_velocity": [
            0.0005290544359013438,
            0.00013482911163009703,
            -0.00011361537326592952
        ],
        "forward_vector": [
            -0.9871121048927307,
            -0.1597248762845993,
            -0.009889202192425728
        ],
        "right_vector": [
            0.1597326695919037,
            -0.987160325050354,
            1.5976837630660157e-06
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.7059326171875
        ],
        "rotation": [
            -9.154501458397135e-05,
            -0.566618800163269,
            -170.80862426757812
        ],
        "velocity": [
            -1.880995841929689e-05,
            -4.845773673878284e-06,
            9.671039879322052e-05
        ],
        "speed": 1.942411023017862e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.134833335876465,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.349365234375,
                4267.95947265625,
                361.57427978515625
            ],
            "velocity": [
                -0.8651946783065796,
                -0.15319576859474182,
                -0.012099770829081535
            ],
            "speed_kmh": 3.1634500540137513,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2967.78271484375,
                        "y": 4268.361328125,
                        "z": 361.041015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2968.302978515625,
                        "y": 4265.1533203125,
                        "z": 361.0410461425781
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.878736138343811,
                "transform": {
                    "location": {
                        "x": 3026.349365234375,
                        "y": 4267.95947265625,
                        "z": 361.57427978515625
                    },
                    "rotation": {
                        "roll": -0.008911130018532276,
                        "pitch": -0.39192989468574524,
                        "yaw": -170.78652954101562
                    }
                },
                "velocity": {
                    "x": -0.8651946783065796,
                    "y": -0.15319576859474182,
                    "z": -0.012099770829081535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2169151306152344,
                "transform": {
                    "location": {
                        "x": 3011.440673828125,
                        "y": 4265.54638671875,
                        "z": 361.42718505859375
                    },
                    "rotation": {
                        "roll": 0.006752714514732361,
                        "pitch": -0.7285762429237366,
                        "yaw": -170.6712188720703
                    }
                },
                "velocity": {
                    "x": -2.1817798614501953,
                    "y": -0.39253324270248413,
                    "z": -0.021620478481054306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1298532485961914,
                "transform": {
                    "location": {
                        "x": 3025.841552734375,
                        "y": 4271.17041015625,
                        "z": 361.5584411621094
                    },
                    "rotation": {
                        "roll": -0.0022888171952217817,
                        "pitch": -0.5179673433303833,
                        "yaw": -170.74880981445312
                    }
                },
                "velocity": {
                    "x": -1.1123970746994019,
                    "y": -0.19748251140117645,
                    "z": -0.011906375177204609
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5961366891860962,
                "transform": {
                    "location": {
                        "x": 3010.74658203125,
                        "y": 4268.72509765625,
                        "z": 361.40875244140625
                    },
                    "rotation": {
                        "roll": -0.0047607459127902985,
                        "pitch": -0.4948471784591675,
                        "yaw": -170.5283203125
                    }
                },
                "velocity": {
                    "x": -1.5701241493225098,
                    "y": -0.2866828441619873,
                    "z": -0.013252047821879387
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0003470316587481648,
        "expert_target_speed": 0.9783075343816013,
        "target_point": [
            51.0009435325962,
            -0.000509003733373703
        ],
        "target_point_next": [
            102.00100103568951,
            -0.00038000698437556935
        ]
    },
    "25": {
        "acceleration": [
            -4.898756742477417e-05,
            -0.0005355454632081091,
            0.013434218242764473
        ],
        "angular_velocity": [
            0.012061826884746552,
            0.0014903544215485454,
            -1.2760189747496042e-05
        ],
        "forward_vector": [
            -0.9871121048927307,
            -0.1597248762845993,
            -0.009889202192425728
        ],
        "right_vector": [
            0.1597326695919037,
            -0.987160325050354,
            1.5976837630660157e-06
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.70599365234375
        ],
        "rotation": [
            -9.154501458397135e-05,
            -0.566618800163269,
            -170.80862426757812
        ],
        "velocity": [
            -3.264553743065335e-05,
            -5.771906944573857e-05,
            0.0021469357889145613
        ],
        "speed": 6.631155323032465e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.444650650024414,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3026.044189453125,
                4267.90625,
                361.56646728515625
            ],
            "velocity": [
                -1.65409255027771,
                -0.29478731751441956,
                -0.03524910286068916
            ],
            "speed_kmh": 6.04988994760107,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2969.83935546875,
                        "y": 4268.6943359375,
                        "z": 361.05279541015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2970.359375,
                        "y": 4265.486328125,
                        "z": 361.0528564453125
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6805249452590942,
                "transform": {
                    "location": {
                        "x": 3026.044189453125,
                        "y": 4267.90625,
                        "z": 361.56646728515625
                    },
                    "rotation": {
                        "roll": -0.009643551893532276,
                        "pitch": -0.3748475909233093,
                        "yaw": -170.60902404785156
                    }
                },
                "velocity": {
                    "x": -1.65409255027771,
                    "y": -0.29478731751441956,
                    "z": -0.03524910286068916
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3706016540527344,
                "transform": {
                    "location": {
                        "x": 3010.740966796875,
                        "y": 4265.42236328125,
                        "z": 361.4198303222656
                    },
                    "rotation": {
                        "roll": 0.0007109696744009852,
                        "pitch": -0.6776708364486694,
                        "yaw": -170.41053771972656
                    }
                },
                "velocity": {
                    "x": -3.3171138763427734,
                    "y": -0.5972509384155273,
                    "z": -0.03166945278644562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.834140658378601,
                "transform": {
                    "location": {
                        "x": 3025.470947265625,
                        "y": 4271.10595703125,
                        "z": 361.5545654296875
                    },
                    "rotation": {
                        "roll": -0.00469970190897584,
                        "pitch": -0.5220928192138672,
                        "yaw": -170.53526306152344
                    }
                },
                "velocity": {
                    "x": -1.8055191040039062,
                    "y": -0.3222426176071167,
                    "z": -0.018228057771921158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0920791625976562,
                "transform": {
                    "location": {
                        "x": 3010.14453125,
                        "y": 4268.6201171875,
                        "z": 361.40283203125
                    },
                    "rotation": {
                        "roll": -0.004119873046875,
                        "pitch": -0.45293712615966797,
                        "yaw": -170.34063720703125
                    }
                },
                "velocity": {
                    "x": -3.0475709438323975,
                    "y": -0.5219559669494629,
                    "z": -0.028774341568350792
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0014854151522740722,
        "expert_target_speed": 0.9960322958089941,
        "target_point": [
            51.0009435325962,
            -0.000509003733373703
        ],
        "target_point_next": [
            102.00100103568951,
            -0.00038000698437556935
        ]
    },
    "30": {
        "acceleration": [
            -9.256302291760221e-05,
            -0.00012018645065836608,
            0.004479209892451763
        ],
        "angular_velocity": [
            0.0036201204638928175,
            0.0003347576130181551,
            -0.00010111254232469946
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.009889202192425728
        ],
        "right_vector": [
            0.15973156690597534,
            -0.9871605038642883,
            -6.565707280969946e-06
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.7060546875
        ],
        "rotation": [
            0.0003762057167477906,
            -0.566618800163269,
            -170.80868530273438
        ],
        "velocity": [
            -2.0636989574995823e-05,
            -2.0798519472009502e-05,
            0.000386756903026253
        ],
        "speed": 2.929955206050162e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.035011291503906,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3025.462646484375,
                4267.8046875,
                361.55755615234375
            ],
            "velocity": [
                -3.1354191303253174,
                -0.5347039103507996,
                -0.030522899702191353
            ],
            "speed_kmh": 11.450995669539388,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.831958770751953,
                "transform": {
                    "location": {
                        "x": 2971.849609375,
                        "y": 4269.02001953125,
                        "z": 361.07421875
                    },
                    "rotation": {
                        "roll": -0.007202145643532276,
                        "pitch": 0.4103918969631195,
                        "yaw": 9.221715927124023
                    }
                },
                "velocity": {
                    "x": 6.73809814453125,
                    "y": 1.1176021099090576,
                    "z": 0.157047301530838
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.634521484375,
                "transform": {
                    "location": {
                        "x": 2972.293701171875,
                        "y": 4265.7998046875,
                        "z": 361.0685729980469
                    },
                    "rotation": {
                        "roll": -0.011840821243822575,
                        "pitch": 0.2650318145751953,
                        "yaw": 9.24451732635498
                    }
                },
                "velocity": {
                    "x": 6.545555114746094,
                    "y": 1.081750750541687,
                    "z": 0.04896894469857216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1808321475982666,
                "transform": {
                    "location": {
                        "x": 3025.462646484375,
                        "y": 4267.8046875,
                        "z": 361.55755615234375
                    },
                    "rotation": {
                        "roll": -0.005645751021802425,
                        "pitch": -0.2520476281642914,
                        "yaw": -170.4855194091797
                    }
                },
                "velocity": {
                    "x": -3.1354191303253174,
                    "y": -0.5347039103507996,
                    "z": -0.030522899702191353
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.5144548416137695,
                "transform": {
                    "location": {
                        "x": 3009.763671875,
                        "y": 4265.25634765625,
                        "z": 361.4103088378906
                    },
                    "rotation": {
                        "roll": -0.006073000840842724,
                        "pitch": -0.648765504360199,
                        "yaw": -170.37416076660156
                    }
                },
                "velocity": {
                    "x": -4.449728488922119,
                    "y": -0.7605475187301636,
                    "z": -0.04225144907832146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.375537157058716,
                "transform": {
                    "location": {
                        "x": 3024.948974609375,
                        "y": 4271.01611328125,
                        "z": 361.5494384765625
                    },
                    "rotation": {
                        "roll": -0.005218501202762127,
                        "pitch": -0.5300841331481934,
                        "yaw": -170.23204040527344
                    }
                },
                "velocity": {
                    "x": -2.340547561645508,
                    "y": -0.40563875436782837,
                    "z": -0.021708155050873756
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.3676910400390625,
                "transform": {
                    "location": {
                        "x": 3009.242431640625,
                        "y": 4268.462890625,
                        "z": 361.3941955566406
                    },
                    "rotation": {
                        "roll": -0.0016479493351653218,
                        "pitch": -0.4443994164466858,
                        "yaw": -170.58245849609375
                    }
                },
                "velocity": {
                    "x": -4.305232524871826,
                    "y": -0.7348883748054504,
                    "z": -0.04049079865217209
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00032221965375356376,
        "expert_target_speed": 1.0202357201437589,
        "target_point": [
            51.00094353305844,
            -0.00046036544341454544
        ],
        "target_point_next": [
            102.00100103600553,
            -0.00028273124943822836
        ]
    },
    "35": {
        "acceleration": [
            -0.0006171241402626038,
            0.0008182321907952428,
            0.0008531659841537476
        ],
        "angular_velocity": [
            -0.005191822536289692,
            -0.009223824366927147,
            -0.00019627754227258265
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.009889202192425728
        ],
        "right_vector": [
            0.15973156690597534,
            -0.9871605038642883,
            -6.565707280969946e-06
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.7060546875
        ],
        "rotation": [
            0.0003762057167477906,
            -0.566618800163269,
            -170.80868530273438
        ],
        "velocity": [
            -5.931004852754995e-05,
            1.65858307354938e-06,
            0.0012610519770532846
        ],
        "speed": 5.9333234819552816e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.092721939086914,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3024.419921875,
                4267.62744140625,
                361.5467834472656
            ],
            "velocity": [
                -5.076790809631348,
                -0.8658326268196106,
                -0.04338753968477249
            ],
            "speed_kmh": 18.540997327319058,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.502025604248047,
                "transform": {
                    "location": {
                        "x": 2973.48095703125,
                        "y": 4269.29736328125,
                        "z": 361.111083984375
                    },
                    "rotation": {
                        "roll": -0.010406489484012127,
                        "pitch": 0.42996037006378174,
                        "yaw": 9.629018783569336
                    }
                },
                "velocity": {
                    "x": 6.40412712097168,
                    "y": 1.1189929246902466,
                    "z": 0.10653319954872131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.820705413818359,
                "transform": {
                    "location": {
                        "x": 2973.9541015625,
                        "y": 4266.08203125,
                        "z": 361.0822448730469
                    },
                    "rotation": {
                        "roll": -0.014465331099927425,
                        "pitch": 0.4341745972633362,
                        "yaw": 9.649173736572266
                    }
                },
                "velocity": {
                    "x": 6.721405029296875,
                    "y": 1.1581908464431763,
                    "z": 0.057712096720933914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.150277137756348,
                "transform": {
                    "location": {
                        "x": 3024.419921875,
                        "y": 4267.62744140625,
                        "z": 361.5467834472656
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.0826726034283638,
                        "yaw": -170.41409301757812
                    }
                },
                "velocity": {
                    "x": -5.076790809631348,
                    "y": -0.8658326268196106,
                    "z": -0.04338753968477249
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.200260162353516,
                "transform": {
                    "location": {
                        "x": 3008.527099609375,
                        "y": 4265.04541015625,
                        "z": 361.39862060546875
                    },
                    "rotation": {
                        "roll": -0.005310059990733862,
                        "pitch": -0.6141296029090881,
                        "yaw": -170.34324645996094
                    }
                },
                "velocity": {
                    "x": -5.125929355621338,
                    "y": -0.8747981190681458,
                    "z": -0.04777350276708603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9603943824768066,
                "transform": {
                    "location": {
                        "x": 3024.2880859375,
                        "y": 4270.90380859375,
                        "z": 361.5430908203125
                    },
                    "rotation": {
                        "roll": -0.00546264136210084,
                        "pitch": -0.5310676693916321,
                        "yaw": -170.1324005126953
                    }
                },
                "velocity": {
                    "x": -2.9176976680755615,
                    "y": -0.5001896023750305,
                    "z": -0.028024954721331596
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.337430000305176,
                "transform": {
                    "location": {
                        "x": 3008.006103515625,
                        "y": 4268.2529296875,
                        "z": 361.3825988769531
                    },
                    "rotation": {
                        "roll": -0.004028320778161287,
                        "pitch": -0.45440563559532166,
                        "yaw": -170.44003295898438
                    }
                },
                "velocity": {
                    "x": -5.26120662689209,
                    "y": -0.8974915742874146,
                    "z": -0.04873533546924591
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0004877799947280437,
        "expert_target_speed": 1.0560712895984639,
        "target_point": [
            51.00094353305844,
            -0.00046036544341454544
        ],
        "target_point_next": [
            102.00100103600553,
            -0.00028273124943822836
        ]
    },
    "40": {
        "acceleration": [
            -4.4637346267700195,
            -0.6842526793479919,
            -0.03587475046515465
        ],
        "angular_velocity": [
            -0.12987148761749268,
            1.2167937755584717,
            -0.23710663616657257
        ],
        "forward_vector": [
            -0.9870313405990601,
            -0.16045446693897247,
            -0.0048538255505263805
        ],
        "right_vector": [
            0.16045667231082916,
            -0.9870429039001465,
            -6.559354369528592e-05
        ],
        "location": [
            3041.1728515625,
            4270.3603515625,
            361.7038269042969
        ],
        "rotation": [
            0.003758277278393507,
            -0.2781048119068146,
            -170.76661682128906
        ],
        "velocity": [
            -1.095703363418579,
            -0.17384454607963562,
            -0.01051891315728426
        ],
        "speed": 1.1094087555127827,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.343210220336914,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3023.0712890625,
                4267.3974609375,
                361.5362854003906
            ],
            "velocity": [
                -5.947990417480469,
                -1.0123270750045776,
                -0.05765492841601372
            ],
            "speed_kmh": 21.72167336656656,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.68004035949707,
                "transform": {
                    "location": {
                        "x": 2975.105224609375,
                        "y": 4269.5791015625,
                        "z": 361.1309814453125
                    },
                    "rotation": {
                        "roll": 0.0086881248280406,
                        "pitch": 0.4949359595775604,
                        "yaw": 9.841544151306152
                    }
                },
                "velocity": {
                    "x": 6.583945274353027,
                    "y": 1.1268882751464844,
                    "z": 0.06871107220649719
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.563408851623535,
                "transform": {
                    "location": {
                        "x": 2975.6015625,
                        "y": 4266.3681640625,
                        "z": 361.0967102050781
                    },
                    "rotation": {
                        "roll": 0.0013822595356032252,
                        "pitch": 0.4877779185771942,
                        "yaw": 9.833166122436523
                    }
                },
                "velocity": {
                    "x": 6.46787691116333,
                    "y": 1.1142579317092896,
                    "z": 0.05775007978081703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.0337982177734375,
                "transform": {
                    "location": {
                        "x": 3023.0712890625,
                        "y": 4267.3974609375,
                        "z": 361.5362854003906
                    },
                    "rotation": {
                        "roll": -0.003906248603016138,
                        "pitch": -0.31951624155044556,
                        "yaw": -170.3906707763672
                    }
                },
                "velocity": {
                    "x": -5.947990417480469,
                    "y": -1.0123270750045776,
                    "z": -0.05765492841601372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.867066860198975,
                "transform": {
                    "location": {
                        "x": 3007.169189453125,
                        "y": 4264.81298828125,
                        "z": 361.3855285644531
                    },
                    "rotation": {
                        "roll": -0.0036926253233104944,
                        "pitch": -0.5933248400688171,
                        "yaw": -170.37196350097656
                    }
                },
                "velocity": {
                    "x": -5.7829155921936035,
                    "y": -0.9886283874511719,
                    "z": -0.054554399102926254
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.555182933807373,
                "transform": {
                    "location": {
                        "x": 3023.48583984375,
                        "y": 4270.76611328125,
                        "z": 361.5353088378906
                    },
                    "rotation": {
                        "roll": -0.005371096543967724,
                        "pitch": -0.5303710103034973,
                        "yaw": -170.15887451171875
                    }
                },
                "velocity": {
                    "x": -3.503936290740967,
                    "y": -0.600544810295105,
                    "z": -0.03318516165018082
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.050259590148926,
                "transform": {
                    "location": {
                        "x": 3006.420654296875,
                        "y": 4267.98291015625,
                        "z": 361.3674621582031
                    },
                    "rotation": {
                        "roll": -0.00515747582539916,
                        "pitch": -0.42653846740722656,
                        "yaw": -170.344970703125
                    }
                },
                "velocity": {
                    "x": -6.949285507202148,
                    "y": -1.1871598958969116,
                    "z": -0.06516643613576889
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0015050334623083472,
        "expert_target_speed": 2.183127287890396,
        "target_point": [
            50.883325389357,
            -0.03709739570144599
        ],
        "target_point_next": [
            101.88336927212626,
            -0.07437059082090869
        ]
    },
    "45": {
        "acceleration": [
            -5.763440132141113,
            -0.9008926153182983,
            -0.060870908200740814
        ],
        "angular_velocity": [
            -0.02245956100523472,
            0.6733171343803406,
            -1.0994815826416016
        ],
        "forward_vector": [
            -0.9872732162475586,
            -0.15902374684810638,
            -0.0017327060922980309
        ],
        "right_vector": [
            0.15902423858642578,
            -0.9872746467590332,
            -0.00014783069491386414
        ],
        "location": [
            3040.743408203125,
            4270.29248046875,
            361.6990661621094
        ],
        "rotation": [
            0.008470087312161922,
            -0.09927679598331451,
            -170.84974670410156
        ],
        "velocity": [
            -2.3185553550720215,
            -0.36615800857543945,
            -0.022683190181851387
        ],
        "speed": 2.3472900591484382,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.676424026489258,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3021.328369140625,
                4267.10107421875,
                361.5179748535156
            ],
            "velocity": [
                -7.524827480316162,
                -1.2866935729980469,
                -0.07378343492746353
            ],
            "speed_kmh": 27.483837546664176,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.362871170043945,
                "transform": {
                    "location": {
                        "x": 2976.592041015625,
                        "y": 4269.8330078125,
                        "z": 361.1461486816406
                    },
                    "rotation": {
                        "roll": 0.007715537212789059,
                        "pitch": 0.4055561125278473,
                        "yaw": 9.689048767089844
                    }
                },
                "velocity": {
                    "x": 5.287498474121094,
                    "y": 0.8945735096931458,
                    "z": 0.049833059310913086
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.650005340576172,
                "transform": {
                    "location": {
                        "x": 2977.084716796875,
                        "y": 4266.62060546875,
                        "z": 361.10986328125
                    },
                    "rotation": {
                        "roll": 0.008347772993147373,
                        "pitch": 0.39445024728775024,
                        "yaw": 9.6956205368042
                    }
                },
                "velocity": {
                    "x": 5.569936275482178,
                    "y": 0.946420431137085,
                    "z": 0.05155690014362335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.634398937225342,
                "transform": {
                    "location": {
                        "x": 3021.328369140625,
                        "y": 4267.10107421875,
                        "z": 361.5179748535156
                    },
                    "rotation": {
                        "roll": -0.00875854305922985,
                        "pitch": -0.17003755271434784,
                        "yaw": -170.30870056152344
                    }
                },
                "velocity": {
                    "x": -7.524827480316162,
                    "y": -1.2866935729980469,
                    "z": -0.07378343492746353
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.15079927444458,
                "transform": {
                    "location": {
                        "x": 3005.602783203125,
                        "y": 4264.54541015625,
                        "z": 361.3713684082031
                    },
                    "rotation": {
                        "roll": -0.005065916571766138,
                        "pitch": -0.6710182428359985,
                        "yaw": -170.3446807861328
                    }
                },
                "velocity": {
                    "x": -7.048444747924805,
                    "y": -1.2036696672439575,
                    "z": -0.0673513188958168
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.402089595794678,
                "transform": {
                    "location": {
                        "x": 3022.505859375,
                        "y": 4270.59765625,
                        "z": 361.52569580078125
                    },
                    "rotation": {
                        "roll": -0.005371089093387127,
                        "pitch": -0.5222772359848022,
                        "yaw": -170.21337890625
                    }
                },
                "velocity": {
                    "x": -4.338718891143799,
                    "y": -0.7430557608604431,
                    "z": -0.042157307267189026
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.44919490814209,
                "transform": {
                    "location": {
                        "x": 3004.759033203125,
                        "y": 4267.7001953125,
                        "z": 361.3526611328125
                    },
                    "rotation": {
                        "roll": -0.0018005387391895056,
                        "pitch": -0.5407050848007202,
                        "yaw": -170.33363342285156
                    }
                },
                "velocity": {
                    "x": -6.360100746154785,
                    "y": -1.0665972232818604,
                    "z": -0.06001251935958862
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003492210991680622,
        "expert_target_speed": 3.4313591024333903,
        "target_point": [
            50.4485539660819,
            0.03799537131931707
        ],
        "target_point_next": [
            101.44859826141555,
            0.07469972352179255
        ]
    },
    "50": {
        "acceleration": [
            -6.805510520935059,
            -1.0315632820129395,
            -0.0486089289188385
        ],
        "angular_velocity": [
            -0.09805218875408173,
            0.6123912334442139,
            -0.48612192273139954
        ],
        "forward_vector": [
            -0.9875328540802002,
            -0.1574004739522934,
            0.0019829256925731897
        ],
        "right_vector": [
            0.15740032494068146,
            -0.9875348806381226,
            -0.00023518713715020567
        ],
        "location": [
            3039.937744140625,
            4270.16552734375,
            361.6904296875
        ],
        "rotation": [
            0.013475256972014904,
            0.11361335963010788,
            -170.94393920898438
        ],
        "velocity": [
            -4.0723395347595215,
            -0.63653963804245,
            -0.03913982957601547
        ],
        "speed": 4.121787475982308,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.791168212890625,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3019.42529296875,
                4266.77783203125,
                361.5018615722656
            ],
            "velocity": [
                -7.645209789276123,
                -1.2871791124343872,
                -0.07494895160198212
            ],
            "speed_kmh": 27.9114201456681,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.313488006591797,
                "transform": {
                    "location": {
                        "x": 2977.88232421875,
                        "y": 4270.05224609375,
                        "z": 361.15740966796875
                    },
                    "rotation": {
                        "roll": 0.00532067334279418,
                        "pitch": 0.4749918282032013,
                        "yaw": 9.574102401733398
                    }
                },
                "velocity": {
                    "x": 5.2393364906311035,
                    "y": 0.8832556009292603,
                    "z": 0.04864044860005379
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.802032470703125,
                "transform": {
                    "location": {
                        "x": 2978.5,
                        "y": 4266.8603515625,
                        "z": 361.1228942871094
                    },
                    "rotation": {
                        "roll": 0.005654081702232361,
                        "pitch": 0.5161095261573792,
                        "yaw": 9.616898536682129
                    }
                },
                "velocity": {
                    "x": 5.720688819885254,
                    "y": 0.9667115807533264,
                    "z": 0.05263252183794975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.753172397613525,
                "transform": {
                    "location": {
                        "x": 3019.42529296875,
                        "y": 4266.77783203125,
                        "z": 361.5018615722656
                    },
                    "rotation": {
                        "roll": 0.004664625506848097,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.2357177734375
                    }
                },
                "velocity": {
                    "x": -7.645209789276123,
                    "y": -1.2871791124343872,
                    "z": -0.07494895160198212
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.140427589416504,
                "transform": {
                    "location": {
                        "x": 3003.819091796875,
                        "y": 4264.24658203125,
                        "z": 361.35357666015625
                    },
                    "rotation": {
                        "roll": -0.0067138671875,
                        "pitch": -0.5552670359611511,
                        "yaw": -170.4744415283203
                    }
                },
                "velocity": {
                    "x": -7.04355525970459,
                    "y": -1.1702522039413452,
                    "z": -0.06740111112594604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.235208988189697,
                "transform": {
                    "location": {
                        "x": 3021.297119140625,
                        "y": 4270.390625,
                        "z": 361.51422119140625
                    },
                    "rotation": {
                        "roll": -0.004608154296875,
                        "pitch": -0.5172775387763977,
                        "yaw": -170.25418090820312
                    }
                },
                "velocity": {
                    "x": -5.159972190856934,
                    "y": -0.8830161690711975,
                    "z": -0.0487828329205513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.375033378601074,
                "transform": {
                    "location": {
                        "x": 3003.20703125,
                        "y": 4267.4404296875,
                        "z": 361.33795166015625
                    },
                    "rotation": {
                        "roll": -0.0005187971401028335,
                        "pitch": -0.5386354923248291,
                        "yaw": -170.4760284423828
                    }
                },
                "velocity": {
                    "x": -6.288422584533691,
                    "y": -1.0455951690673828,
                    "z": -0.05937177687883377
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.010007619857788086,
        "expert_target_speed": 5.1534052956012975,
        "target_point": [
            49.63281948593378,
            0.12238110320455586
        ],
        "target_point_next": [
            100.63273450331045,
            0.24293630144369516
        ]
    },
    "55": {
        "acceleration": [
            -2.499103546142578,
            -0.35297155380249023,
            -0.056354328989982605
        ],
        "angular_velocity": [
            0.17629536986351013,
            -0.9969910383224487,
            -1.0441102981567383
        ],
        "forward_vector": [
            -0.9879079461097717,
            -0.15501798689365387,
            0.0027205911464989185
        ],
        "right_vector": [
            0.15501761436462402,
            -0.9879116415977478,
            -0.0003462191380094737
        ],
        "location": [
            3038.7099609375,
            4269.97412109375,
            361.6785888671875
        ],
        "rotation": [
            0.019836969673633575,
            0.15587857365608215,
            -171.08212280273438
        ],
        "velocity": [
            -5.50761079788208,
            -0.8496803641319275,
            -0.05289515480399132
        ],
        "speed": 5.57276712434125,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.160615921020508,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3017.83544921875,
                4266.51123046875,
                361.4920959472656
            ],
            "velocity": [
                -5.021336078643799,
                -0.8366348743438721,
                -0.04863767698407173
            ],
            "speed_kmh": 18.32684284279749,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.316610336303711,
                "transform": {
                    "location": {
                        "x": 2979.2568359375,
                        "y": 4270.28369140625,
                        "z": 361.1692199707031
                    },
                    "rotation": {
                        "roll": 0.004149974789470434,
                        "pitch": 0.5832366347312927,
                        "yaw": 9.5683012008667
                    }
                },
                "velocity": {
                    "x": 6.228450775146484,
                    "y": 1.0500993728637695,
                    "z": 0.05709714815020561
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.934520721435547,
                "transform": {
                    "location": {
                        "x": 2980.195556640625,
                        "y": 4267.14697265625,
                        "z": 361.13873291015625
                    },
                    "rotation": {
                        "roll": 0.00504698371514678,
                        "pitch": 0.7747892737388611,
                        "yaw": 9.61169147491455
                    }
                },
                "velocity": {
                    "x": 7.82337760925293,
                    "y": 1.321527361869812,
                    "z": 0.07032691687345505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.090789794921875,
                "transform": {
                    "location": {
                        "x": 3017.83544921875,
                        "y": 4266.51123046875,
                        "z": 361.4920959472656
                    },
                    "rotation": {
                        "roll": -0.0019836470019072294,
                        "pitch": -1.1474307775497437,
                        "yaw": -170.3314971923828
                    }
                },
                "velocity": {
                    "x": -5.021336078643799,
                    "y": -0.8366348743438721,
                    "z": -0.04863767698407173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.306459426879883,
                "transform": {
                    "location": {
                        "x": 3002.0595703125,
                        "y": 4263.9541015625,
                        "z": 361.33697509765625
                    },
                    "rotation": {
                        "roll": -0.0032653827220201492,
                        "pitch": -0.5470571517944336,
                        "yaw": -170.5443572998047
                    }
                },
                "velocity": {
                    "x": -7.207631587982178,
                    "y": -1.195831298828125,
                    "z": -0.06617319583892822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.685635566711426,
                "transform": {
                    "location": {
                        "x": 3019.971435546875,
                        "y": 4270.16357421875,
                        "z": 361.50146484375
                    },
                    "rotation": {
                        "roll": -0.004852296318858862,
                        "pitch": -0.529995322227478,
                        "yaw": -170.29046630859375
                    }
                },
                "velocity": {
                    "x": -5.603975772857666,
                    "y": -0.9586358666419983,
                    "z": -0.05406792461872101
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.538362503051758,
                "transform": {
                    "location": {
                        "x": 3001.49609375,
                        "y": 4267.15576171875,
                        "z": 361.3214111328125
                    },
                    "rotation": {
                        "roll": -0.0012512183748185635,
                        "pitch": -0.47583192586898804,
                        "yaw": -170.54750061035156
                    }
                },
                "velocity": {
                    "x": -7.436242580413818,
                    "y": -1.2346692085266113,
                    "z": -0.069266676902771
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01948566734790802,
        "expert_target_speed": 6.452534431848139,
        "target_point": [
            48.389767227732314,
            0.24332402339808556
        ],
        "target_point_next": [
            99.38924315249845,
            0.48688250644290143
        ]
    },
    "60": {
        "acceleration": [
            -5.908184051513672,
            -0.9557294845581055,
            -0.06460785865783691
        ],
        "angular_velocity": [
            -0.15989550948143005,
            0.7964134812355042,
            0.12708254158496857
        ],
        "forward_vector": [
            -0.987931489944458,
            -0.15489016473293304,
            -0.0006407498731277883
        ],
        "right_vector": [
            0.15489017963409424,
            -0.9879316687583923,
            3.3555810659890994e-05
        ],
        "location": [
            3037.270263671875,
            4269.74853515625,
            361.6653137207031
        ],
        "rotation": [
            -0.0019226068397983909,
            -0.03671226650476456,
            -171.08956909179688
        ],
        "velocity": [
            -6.434445858001709,
            -1.0123261213302612,
            -0.06244474649429321
        ],
        "speed": 6.51359329982176,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.01679229736328,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3016.5400390625,
                4266.294921875,
                361.47589111328125
            ],
            "velocity": [
                -5.546238422393799,
                -0.9231154322624207,
                -0.05246049910783768
            ],
            "speed_kmh": 20.242007972752425,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.258191108703613,
                "transform": {
                    "location": {
                        "x": 2981.12548828125,
                        "y": 4270.59619140625,
                        "z": 361.1853332519531
                    },
                    "rotation": {
                        "roll": 0.009577169083058834,
                        "pitch": 0.7059751152992249,
                        "yaw": 9.485418319702148
                    }
                },
                "velocity": {
                    "x": 8.147172927856445,
                    "y": 1.3474922180175781,
                    "z": 0.0745963454246521
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.21506404876709,
                "transform": {
                    "location": {
                        "x": 2982.22314453125,
                        "y": 4267.484375,
                        "z": 361.1572265625
                    },
                    "rotation": {
                        "roll": 0.009176372550427914,
                        "pitch": 0.6262804865837097,
                        "yaw": 9.445934295654297
                    }
                },
                "velocity": {
                    "x": 8.103974342346191,
                    "y": 1.3442736864089966,
                    "z": 0.07618648558855057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.6227803230285645,
                "transform": {
                    "location": {
                        "x": 3016.5400390625,
                        "y": 4266.294921875,
                        "z": 361.47589111328125
                    },
                    "rotation": {
                        "roll": -0.003051756415516138,
                        "pitch": -0.6871306300163269,
                        "yaw": -170.4212646484375
                    }
                },
                "velocity": {
                    "x": -5.546238422393799,
                    "y": -0.9231154322624207,
                    "z": -0.05246049910783768
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.176918983459473,
                "transform": {
                    "location": {
                        "x": 3000.145751953125,
                        "y": 4263.63720703125,
                        "z": 361.3194885253906
                    },
                    "rotation": {
                        "roll": -0.005340577568858862,
                        "pitch": -0.5975937247276306,
                        "yaw": -170.5994873046875
                    }
                },
                "velocity": {
                    "x": -8.068763732910156,
                    "y": -1.3234357833862305,
                    "z": -0.07463036477565765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.777724742889404,
                "transform": {
                    "location": {
                        "x": 3018.42431640625,
                        "y": 4269.90185546875,
                        "z": 361.486328125
                    },
                    "rotation": {
                        "roll": -0.0013732925290241838,
                        "pitch": -0.5097301602363586,
                        "yaw": -170.38356018066406
                    }
                },
                "velocity": {
                    "x": -6.68465518951416,
                    "y": -1.1174927949905396,
                    "z": -0.06438109278678894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.389225959777832,
                "transform": {
                    "location": {
                        "x": 2999.50341796875,
                        "y": 4266.82568359375,
                        "z": 361.30267333984375
                    },
                    "rotation": {
                        "roll": 0.0006127829547040164,
                        "pitch": -0.4669185280799866,
                        "yaw": -170.59950256347656
                    }
                },
                "velocity": {
                    "x": -8.277946472167969,
                    "y": -1.3597387075424194,
                    "z": -0.07629382610321045
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02643813192844391,
        "expert_target_speed": 7.248013150624075,
        "target_point": [
            46.93247153759425,
            0.2497545138701227
        ],
        "target_point_next": [
            97.931915324642,
            0.4999519303638831
        ]
    },
    "65": {
        "acceleration": [
            -5.519905090332031,
            -0.8967781066894531,
            -0.06322205066680908
        ],
        "angular_velocity": [
            -0.030726207420229912,
            0.20320960879325867,
            0.4775474965572357
        ],
        "forward_vector": [
            -0.987795352935791,
            -0.15575353801250458,
            0.0010770555818453431
        ],
        "right_vector": [
            0.1557537317276001,
            -0.9877959489822388,
            0.00010066741378977895
        ],
        "location": [
            3035.4765625,
            4269.4658203125,
            361.64752197265625
        ],
        "rotation": [
            -0.005767821334302425,
            0.06171075627207756,
            -171.03948974609375
        ],
        "velocity": [
            -7.855354309082031,
            -1.2422168254852295,
            -0.07654330879449844
        ],
        "speed": 7.952967619871983,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.750385284423828,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3015.01171875,
                4266.04052734375,
                361.45758056640625
            ],
            "velocity": [
                -6.567997932434082,
                -1.0808290243148804,
                -0.06285545229911804
            ],
            "speed_kmh": 23.963872345777936,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.056422233581543,
                "transform": {
                    "location": {
                        "x": 2983.161376953125,
                        "y": 4270.93310546875,
                        "z": 361.20538330078125
                    },
                    "rotation": {
                        "roll": 0.0041590346954762936,
                        "pitch": 0.5569745898246765,
                        "yaw": 9.38963508605957
                    }
                },
                "velocity": {
                    "x": 7.948731422424316,
                    "y": 1.3107270002365112,
                    "z": 0.07486695796251297
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.911981582641602,
                "transform": {
                    "location": {
                        "x": 2984.199951171875,
                        "y": 4267.8115234375,
                        "z": 361.1753845214844
                    },
                    "rotation": {
                        "roll": 0.005018761847168207,
                        "pitch": 0.5163964033126831,
                        "yaw": 9.374935150146484
                    }
                },
                "velocity": {
                    "x": 7.806199073791504,
                    "y": 1.287446141242981,
                    "z": 0.07206735759973526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.656630992889404,
                "transform": {
                    "location": {
                        "x": 3015.01171875,
                        "y": 4266.04052734375,
                        "z": 361.45758056640625
                    },
                    "rotation": {
                        "roll": 0.006230762694031,
                        "pitch": -0.22481566667556763,
                        "yaw": -170.5775146484375
                    }
                },
                "velocity": {
                    "x": -6.567997932434082,
                    "y": -1.0808290243148804,
                    "z": -0.06285545229911804
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.979798316955566,
                "transform": {
                    "location": {
                        "x": 2998.028564453125,
                        "y": 4263.28955078125,
                        "z": 361.29986572265625
                    },
                    "rotation": {
                        "roll": -0.002838128013536334,
                        "pitch": -0.6108989119529724,
                        "yaw": -170.67726135253906
                    }
                },
                "velocity": {
                    "x": -8.861693382263184,
                    "y": -1.4492477178573608,
                    "z": -0.08275166153907776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.727066993713379,
                "transform": {
                    "location": {
                        "x": 3016.6103515625,
                        "y": 4269.5986328125,
                        "z": 361.4688720703125
                    },
                    "rotation": {
                        "roll": 0.0001592484477441758,
                        "pitch": -0.5108639597892761,
                        "yaw": -170.5219268798828
                    }
                },
                "velocity": {
                    "x": -7.622261047363281,
                    "y": -1.2661916017532349,
                    "z": -0.07391276210546494
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.11559772491455,
                "transform": {
                    "location": {
                        "x": 2997.360595703125,
                        "y": 4266.47412109375,
                        "z": 361.2828369140625
                    },
                    "rotation": {
                        "roll": 0.0015351418405771255,
                        "pitch": -0.4786323010921478,
                        "yaw": -170.68460083007812
                    }
                },
                "velocity": {
                    "x": -8.995275497436523,
                    "y": -1.4738001823425293,
                    "z": -0.08395857363939285
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03076470084488392,
        "expert_target_speed": 8.3806497280354,
        "target_point": [
            45.11682731945804,
            0.20884407805044436
        ],
        "target_point_next": [
            96.11647030913687,
            0.4144657227440778
        ]
    },
    "70": {
        "acceleration": [
            -8.77532958984375,
            -1.4336729049682617,
            -0.0868949294090271
        ],
        "angular_velocity": [
            -0.23771388828754425,
            1.2695552110671997,
            0.2445162832736969
        ],
        "forward_vector": [
            -0.9876449108123779,
            -0.15670853853225708,
            -0.00022530554269906133
        ],
        "right_vector": [
            0.1567085087299347,
            -0.9876449108123779,
            0.00015499594155699015
        ],
        "location": [
            3033.4033203125,
            4269.13720703125,
            361.627685546875
        ],
        "rotation": [
            -0.00888061337172985,
            -0.0129090566188097,
            -170.98410034179688
        ],
        "velocity": [
            -9.0044527053833,
            -1.4327958822250366,
            -0.08811958134174347
        ],
        "speed": 9.117733959905042,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.472240447998047,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3013.21484375,
                4265.74560546875,
                361.4403381347656
            ],
            "velocity": [
                -7.750770568847656,
                -1.2687666416168213,
                -0.07447781413793564
            ],
            "speed_kmh": 28.275418502647327,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.869790554046631,
                "transform": {
                    "location": {
                        "x": 2985.10595703125,
                        "y": 4271.25341796875,
                        "z": 361.2238464355469
                    },
                    "rotation": {
                        "roll": 0.004543043673038483,
                        "pitch": 0.5161915421485901,
                        "yaw": 9.35254955291748
                    }
                },
                "velocity": {
                    "x": 7.766029357910156,
                    "y": 1.2716399431228638,
                    "z": 0.07295206189155579
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.093327522277832,
                "transform": {
                    "location": {
                        "x": 2986.1728515625,
                        "y": 4268.13623046875,
                        "z": 361.19378662109375
                    },
                    "rotation": {
                        "roll": 0.006364558357745409,
                        "pitch": 0.5527398586273193,
                        "yaw": 9.3316650390625
                    }
                },
                "velocity": {
                    "x": 7.986442565917969,
                    "y": 1.30894136428833,
                    "z": 0.07323470711708069
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.854282855987549,
                "transform": {
                    "location": {
                        "x": 3013.21484375,
                        "y": 4265.74560546875,
                        "z": 361.4403381347656
                    },
                    "rotation": {
                        "roll": 0.004382295999675989,
                        "pitch": -0.23828479647636414,
                        "yaw": -170.6188507080078
                    }
                },
                "velocity": {
                    "x": -7.750770568847656,
                    "y": -1.2687666416168213,
                    "z": -0.07447781413793564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.922730445861816,
                "transform": {
                    "location": {
                        "x": 2995.69140625,
                        "y": 4262.9072265625,
                        "z": 361.278076171875
                    },
                    "rotation": {
                        "roll": -6.104167550802231e-05,
                        "pitch": -0.6162947416305542,
                        "yaw": -170.7059326171875
                    }
                },
                "velocity": {
                    "x": -9.79236888885498,
                    "y": -1.6005384922027588,
                    "z": -0.09154102951288223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.15797233581543,
                "transform": {
                    "location": {
                        "x": 3014.534423828125,
                        "y": 4269.25341796875,
                        "z": 361.44879150390625
                    },
                    "rotation": {
                        "roll": 0.0002753556764218956,
                        "pitch": -0.49642494320869446,
                        "yaw": -170.62603759765625
                    }
                },
                "velocity": {
                    "x": -9.035658836364746,
                    "y": -1.4892163276672363,
                    "z": -0.0869840532541275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.253999710083008,
                "transform": {
                    "location": {
                        "x": 2994.9697265625,
                        "y": 4266.08251953125,
                        "z": 361.2603454589844
                    },
                    "rotation": {
                        "roll": 0.001704896567389369,
                        "pitch": -0.45620197057724,
                        "yaw": -170.7068634033203
                    }
                },
                "velocity": {
                    "x": -10.119898796081543,
                    "y": -1.6501729488372803,
                    "z": -0.09534201771020889
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8742719292640686,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02957848645746708,
        "expert_target_speed": 9.210067993228371,
        "target_point": [
            43.017884617086516,
            0.16555658563932596
        ],
        "target_point_next": [
            94.01770260228996,
            0.321860173516642
        ]
    },
    "75": {
        "acceleration": [
            -3.0638504028320312,
            -0.312497615814209,
            -0.02168998122215271
        ],
        "angular_velocity": [
            0.28797855973243713,
            -0.6545653939247131,
            -0.8256765007972717
        ],
        "forward_vector": [
            -0.987821102142334,
            -0.15559323132038116,
            0.00044178959797136486
        ],
        "right_vector": [
            0.15559306740760803,
            -0.9878211617469788,
            -0.0003859459247905761
        ],
        "location": [
            3030.9736328125,
            4268.7529296875,
            361.60394287109375
        ],
        "rotation": [
            0.022113075479865074,
            0.025312678888440132,
            -171.04879760742188
        ],
        "velocity": [
            -10.185224533081055,
            -1.5915708541870117,
            -0.09799706935882568
        ],
        "speed": 10.308826149139085,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.139833450317383,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3011.115478515625,
                4265.4013671875,
                361.4205322265625
            ],
            "velocity": [
                -8.99130916595459,
                -1.4686756134033203,
                -0.08514048159122467
            ],
            "speed_kmh": 32.79912119705651,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.14577865600586,
                "transform": {
                    "location": {
                        "x": 2987.089599609375,
                        "y": 4271.578125,
                        "z": 361.2420654296875
                    },
                    "rotation": {
                        "roll": 0.004062184132635593,
                        "pitch": 0.55375075340271,
                        "yaw": 9.289862632751465
                    }
                },
                "velocity": {
                    "x": 8.038895606994629,
                    "y": 1.3130542039871216,
                    "z": 0.07584074139595032
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057689666748047,
                "transform": {
                    "location": {
                        "x": 2988.170654296875,
                        "y": 4268.462890625,
                        "z": 361.2123718261719
                    },
                    "rotation": {
                        "roll": 0.005008558742702007,
                        "pitch": 0.5323995351791382,
                        "yaw": 9.276070594787598
                    }
                },
                "velocity": {
                    "x": 7.952186107635498,
                    "y": 1.2974501848220825,
                    "z": 0.07564260065555573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.11086654663086,
                "transform": {
                    "location": {
                        "x": 3011.115478515625,
                        "y": 4265.4013671875,
                        "z": 361.4205322265625
                    },
                    "rotation": {
                        "roll": 0.0016177232610061765,
                        "pitch": -0.2658992409706116,
                        "yaw": -170.68626403808594
                    }
                },
                "velocity": {
                    "x": -8.99130916595459,
                    "y": -1.4686756134033203,
                    "z": -0.08514048159122467
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.764080047607422,
                "transform": {
                    "location": {
                        "x": 2993.135498046875,
                        "y": 4262.49072265625,
                        "z": 361.25421142578125
                    },
                    "rotation": {
                        "roll": -0.0016174304764717817,
                        "pitch": -0.6152907013893127,
                        "yaw": -170.74781799316406
                    }
                },
                "velocity": {
                    "x": -10.623937606811523,
                    "y": -1.7284666299819946,
                    "z": -0.09884020686149597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.929431915283203,
                "transform": {
                    "location": {
                        "x": 3012.17138671875,
                        "y": 4268.865234375,
                        "z": 361.4261779785156
                    },
                    "rotation": {
                        "roll": 0.00073924072785303,
                        "pitch": -0.5125442147254944,
                        "yaw": -170.72470092773438
                    }
                },
                "velocity": {
                    "x": -9.798810958862305,
                    "y": -1.6025495529174805,
                    "z": -0.09353621304035187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.475594520568848,
                "transform": {
                    "location": {
                        "x": 2992.2802734375,
                        "y": 4265.64404296875,
                        "z": 361.235107421875
                    },
                    "rotation": {
                        "roll": 0.00033012698986567557,
                        "pitch": -0.44772571325302124,
                        "yaw": -170.75819396972656
                    }
                },
                "velocity": {
                    "x": -11.326093673706055,
                    "y": -1.8432912826538086,
                    "z": -0.10563936084508896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03660240024328232,
        "expert_target_speed": 9.965560899474125,
        "target_point": [
            40.55778245115344,
            0.21257601257825076
        ],
        "target_point_next": [
            91.55739143425116,
            0.4264659529764181
        ]
    },
    "80": {
        "acceleration": [
            -3.3695602416992188,
            -0.31088829040527344,
            -0.027789771556854248
        ],
        "angular_velocity": [
            0.13048489391803741,
            -0.33320891857147217,
            -1.0638364553451538
        ],
        "forward_vector": [
            -0.9884854555130005,
            -0.1513027548789978,
            -0.0019845946226269007
        ],
        "right_vector": [
            0.15130482614040375,
            -0.9884867072105408,
            -0.0009313242044299841
        ],
        "location": [
            3028.32470703125,
            4268.34423828125,
            361.5788269042969
        ],
        "rotation": [
            0.05336105823516846,
            -0.1137089803814888,
            -171.29754638671875
        ],
        "velocity": [
            -10.986132621765137,
            -1.669381022453308,
            -0.10569552332162857
        ],
        "speed": 11.112242932060987,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.86871910095215,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3008.738037109375,
                4265.01318359375,
                361.3985900878906
            ],
            "velocity": [
                -9.68919849395752,
                -1.5765421390533447,
                -0.09171083569526672
            ],
            "speed_kmh": 35.34137867002063,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2948.9111328125,
                        "y": 4265.30810546875,
                        "z": 361.26422119140625
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.43994611501693726,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2949.821533203125,
                        "y": 4262.1630859375,
                        "z": 361.13604736328125
                    },
                    "rotation": {
                        "roll": 6.6703056411654416e-09,
                        "pitch": 0.4428694546222687,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99086856842041,
                "transform": {
                    "location": {
                        "x": 2989.083251953125,
                        "y": 4271.90380859375,
                        "z": 361.2609558105469
                    },
                    "rotation": {
                        "roll": 0.002081196056678891,
                        "pitch": 0.5219903588294983,
                        "yaw": 9.26610279083252
                    }
                },
                "velocity": {
                    "x": 7.886276721954346,
                    "y": 1.286516547203064,
                    "z": 0.07410375773906708
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01480770111084,
                "transform": {
                    "location": {
                        "x": 2990.14892578125,
                        "y": 4268.78515625,
                        "z": 361.2309265136719
                    },
                    "rotation": {
                        "roll": 0.0014913423219695687,
                        "pitch": 0.5283834338188171,
                        "yaw": 9.25438117980957
                    }
                },
                "velocity": {
                    "x": 7.910148620605469,
                    "y": 1.2888914346694946,
                    "z": 0.07384427636861801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.817049980163574,
                "transform": {
                    "location": {
                        "x": 3008.738037109375,
                        "y": 4265.01318359375,
                        "z": 361.3985900878906
                    },
                    "rotation": {
                        "roll": 0.004608626011759043,
                        "pitch": -0.3291877806186676,
                        "yaw": -170.76876831054688
                    }
                },
                "velocity": {
                    "x": -9.68919849395752,
                    "y": -1.5765421390533447,
                    "z": -0.09171083569526672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.638327598571777,
                "transform": {
                    "location": {
                        "x": 2990.365966796875,
                        "y": 4262.04052734375,
                        "z": 361.2283020019531
                    },
                    "rotation": {
                        "roll": -0.002075202064588666,
                        "pitch": -0.6125518083572388,
                        "yaw": -170.77049255371094
                    }
                },
                "velocity": {
                    "x": -11.48766803741455,
                    "y": -1.8635425567626953,
                    "z": -0.10654202848672867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.635595321655273,
                "transform": {
                    "location": {
                        "x": 3009.630126953125,
                        "y": 4268.44970703125,
                        "z": 361.4020690917969
                    },
                    "rotation": {
                        "roll": 0.0010719654383137822,
                        "pitch": -0.5114718675613403,
                        "yaw": -170.77427673339844
                    }
                },
                "velocity": {
                    "x": -10.49693489074707,
                    "y": -1.7089240550994873,
                    "z": -0.09913452714681625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.400229454040527,
                "transform": {
                    "location": {
                        "x": 2989.368896484375,
                        "y": 4265.17041015625,
                        "z": 361.2080383300781
                    },
                    "rotation": {
                        "roll": -0.00012207017425680533,
                        "pitch": -0.45736992359161377,
                        "yaw": -170.7720947265625
                    }
                },
                "velocity": {
                    "x": -12.239201545715332,
                    "y": -1.9886399507522583,
                    "z": -0.11380244046449661
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06088532507419586,
        "expert_target_speed": 10.0,
        "target_point": [
            37.8762112089306,
            0.38546374453753796
        ],
        "target_point_next": [
            88.87441091179912,
            0.8207709944268355
        ]
    },
    "85": {
        "acceleration": [
            -2.5713729858398438,
            -0.3872966766357422,
            -0.019783079624176025
        ],
        "angular_velocity": [
            -0.09755533933639526,
            -0.27206674218177795,
            0.0297264214605093
        ],
        "forward_vector": [
            -0.9888373017311096,
            -0.14896854758262634,
            -0.0030205200891941786
        ],
        "right_vector": [
            0.1489710956811905,
            -0.9888413548469543,
            -0.0006337208324111998
        ],
        "location": [
            3025.478759765625,
            4267.9140625,
            361.5514831542969
        ],
        "rotation": [
            0.03630970045924187,
            -0.17306332290172577,
            -171.43280029296875
        ],
        "velocity": [
            -11.733569145202637,
            -1.770758032798767,
            -0.11347851157188416
        ],
        "speed": 11.866432863163752,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.623287200927734,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3006.1396484375,
                4264.59130859375,
                361.3740234375
            ],
            "velocity": [
                -10.912185668945312,
                -1.7674012184143066,
                -0.10281512886285782
            ],
            "speed_kmh": 39.79751952346776,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.866860389709473,
                "transform": {
                    "location": {
                        "x": 3040.75244140625,
                        "y": 4270.2919921875,
                        "z": 362.09075927734375
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -10.711246490478516,
                    "y": -1.7332278490066528,
                    "z": -0.5947739481925964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.069396018981934,
                "transform": {
                    "location": {
                        "x": 3039.68115234375,
                        "y": 4273.41162109375,
                        "z": 362.0461120605469
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -10.874509811401367,
                    "y": -1.7596471309661865,
                    "z": -1.0863710641860962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.927490234375,
                        "y": 4265.63427734375,
                        "z": 360.9969177246094
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.857666015625,
                        "y": 4262.49169921875,
                        "z": 360.9898681640625
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.983586311340332,
                "transform": {
                    "location": {
                        "x": 2991.0458984375,
                        "y": 4272.2236328125,
                        "z": 361.27923583984375
                    },
                    "rotation": {
                        "roll": 0.001773843658156693,
                        "pitch": 0.5291825532913208,
                        "yaw": 9.24824047088623
                    }
                },
                "velocity": {
                    "x": 7.879931449890137,
                    "y": 1.28023362159729,
                    "z": 0.07303456962108612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07064151763916,
                "transform": {
                    "location": {
                        "x": 2992.135498046875,
                        "y": 4269.1083984375,
                        "z": 361.2494812011719
                    },
                    "rotation": {
                        "roll": 0.0027598142623901367,
                        "pitch": 0.5368459820747375,
                        "yaw": 9.232097625732422
                    }
                },
                "velocity": {
                    "x": 7.965949058532715,
                    "y": 1.2936936616897583,
                    "z": 0.07261468470096588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.054866790771484,
                "transform": {
                    "location": {
                        "x": 3006.1396484375,
                        "y": 4264.59130859375,
                        "z": 361.3740234375
                    },
                    "rotation": {
                        "roll": 0.004396399948745966,
                        "pitch": -0.3182048499584198,
                        "yaw": -170.83995056152344
                    }
                },
                "velocity": {
                    "x": -10.912185668945312,
                    "y": -1.7674012184143066,
                    "z": -0.10281512886285782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.439319610595703,
                "transform": {
                    "location": {
                        "x": 2987.3916015625,
                        "y": 4261.5576171875,
                        "z": 361.2005920410156
                    },
                    "rotation": {
                        "roll": -0.0012206987012177706,
                        "pitch": -0.6104071140289307,
                        "yaw": -170.78196716308594
                    }
                },
                "velocity": {
                    "x": -12.27851676940918,
                    "y": -1.9903368949890137,
                    "z": -0.11515524238348007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.288261413574219,
                "transform": {
                    "location": {
                        "x": 3006.92236328125,
                        "y": 4268.00927734375,
                        "z": 361.37646484375
                    },
                    "rotation": {
                        "roll": 0.0005913350032642484,
                        "pitch": -0.5098257660865784,
                        "yaw": -170.80007934570312
                    }
                },
                "velocity": {
                    "x": -11.142218589782715,
                    "y": -1.8069218397140503,
                    "z": -0.10409877449274063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.455838203430176,
                "transform": {
                    "location": {
                        "x": 2986.15625,
                        "y": 4264.6494140625,
                        "z": 361.1779479980469
                    },
                    "rotation": {
                        "roll": 0.00019608397269621491,
                        "pitch": -0.4549793601036072,
                        "yaw": -170.78456115722656
                    }
                },
                "velocity": {
                    "x": -13.281548500061035,
                    "y": -2.155142068862915,
                    "z": -0.12415910512208939
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07930155843496323,
        "expert_target_speed": 10.0,
        "target_point": [
            34.996920985623746,
            0.47346390971470864
        ],
        "target_point_next": [
            85.99395088852778,
            1.0291674437833755
        ]
    },
    "90": {
        "acceleration": [
            -2.372913360595703,
            -0.42154550552368164,
            -0.029213428497314453
        ],
        "angular_velocity": [
            -0.05837235599756241,
            -0.20577138662338257,
            0.2224692553281784
        ],
        "forward_vector": [
            -0.9887427091598511,
            -0.14956647157669067,
            -0.004210935905575752
        ],
        "right_vector": [
            0.14956870675086975,
            -0.9887513518333435,
            -0.00021949807705823332
        ],
        "location": [
            3022.468017578125,
            4267.45947265625,
            361.5226135253906
        ],
        "rotation": [
            0.012576425448060036,
            -0.24126958847045898,
            -171.3981170654297
        ],
        "velocity": [
            -12.322797775268555,
            -1.86622953414917,
            -0.11919108778238297
        ],
        "speed": 12.463312468372694,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.465091705322266,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                3003.29052734375,
                4264.13037109375,
                361.3471374511719
            ],
            "velocity": [
                -11.831670761108398,
                -1.9148740768432617,
                -0.11127009242773056
            ],
            "speed_kmh": 43.15010470030423,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.6986083984375,
                "transform": {
                    "location": {
                        "x": 3038.09375,
                        "y": 4269.85986328125,
                        "z": 361.6653137207031
                    },
                    "rotation": {
                        "roll": 0.009576650336384773,
                        "pitch": -0.518404483795166,
                        "yaw": -170.76229858398438
                    }
                },
                "velocity": {
                    "x": -10.44956111907959,
                    "y": -1.7485449314117432,
                    "z": -1.4864311218261719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.711396217346191,
                "transform": {
                    "location": {
                        "x": 3036.98681640625,
                        "y": 4272.9716796875,
                        "z": 361.63092041015625
                    },
                    "rotation": {
                        "roll": -0.0487975999712944,
                        "pitch": -0.5986933708190918,
                        "yaw": -170.63722229003906
                    }
                },
                "velocity": {
                    "x": -10.553919792175293,
                    "y": -1.77859628200531,
                    "z": -0.4305633306503296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.982666015625,
                        "y": 4265.966796875,
                        "z": 360.9615783691406
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.085041046142578,
                "transform": {
                    "location": {
                        "x": 2953.901611328125,
                        "y": 4262.82373046875,
                        "z": 360.9563903808594
                    },
                    "rotation": {
                        "roll": -0.01641845703125,
                        "pitch": 0.4366471469402313,
                        "yaw": 9.255884170532227
                    }
                },
                "velocity": {
                    "x": 7.970128059387207,
                    "y": 1.3568850755691528,
                    "z": -0.061621472239494324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.087798118591309,
                "transform": {
                    "location": {
                        "x": 2993.03515625,
                        "y": 4272.546875,
                        "z": 361.2977294921875
                    },
                    "rotation": {
                        "roll": 2.948316978290677e-05,
                        "pitch": 0.5380823016166687,
                        "yaw": 9.230795860290527
                    }
                },
                "velocity": {
                    "x": 7.982969284057617,
                    "y": 1.2958228588104248,
                    "z": 0.07438293099403381
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.032110214233398,
                "transform": {
                    "location": {
                        "x": 2994.1220703125,
                        "y": 4269.4306640625,
                        "z": 361.26800537109375
                    },
                    "rotation": {
                        "roll": 0.001500715035945177,
                        "pitch": 0.5310471653938293,
                        "yaw": 9.218984603881836
                    }
                },
                "velocity": {
                    "x": 7.928168773651123,
                    "y": 1.2859585285186768,
                    "z": 0.07244815677404404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.986140251159668,
                "transform": {
                    "location": {
                        "x": 3003.29052734375,
                        "y": 4264.13037109375,
                        "z": 361.3471374511719
                    },
                    "rotation": {
                        "roll": 0.0013949817512184381,
                        "pitch": -0.3124333322048187,
                        "yaw": -170.80776977539062
                    }
                },
                "velocity": {
                    "x": -11.831670761108398,
                    "y": -1.9148740768432617,
                    "z": -0.11127009242773056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.221380233764648,
                "transform": {
                    "location": {
                        "x": 2984.218017578125,
                        "y": 4261.04296875,
                        "z": 361.1708984375
                    },
                    "rotation": {
                        "roll": -0.001617430243641138,
                        "pitch": -0.6028119921684265,
                        "yaw": -170.79849243164062
                    }
                },
                "velocity": {
                    "x": -13.05123519897461,
                    "y": -2.1108601093292236,
                    "z": -0.11999247968196869
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.969627380371094,
                "transform": {
                    "location": {
                        "x": 3004.049072265625,
                        "y": 4267.54345703125,
                        "z": 361.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0012763655977323651,
                        "pitch": -0.5109595656394958,
                        "yaw": -170.8176727294922
                    }
                },
                "velocity": {
                    "x": -11.815350532531738,
                    "y": -1.9123420715332031,
                    "z": -0.11145929247140884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.539253234863281,
                "transform": {
                    "location": {
                        "x": 2982.809814453125,
                        "y": 4264.10693359375,
                        "z": 361.1473388671875
                    },
                    "rotation": {
                        "roll": -0.00018310804443899542,
                        "pitch": -0.49926629662513733,
                        "yaw": -170.8007354736328
                    }
                },
                "velocity": {
                    "x": -13.364529609680176,
                    "y": -2.1646244525909424,
                    "z": -0.12298747897148132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08646437525749207,
        "expert_target_speed": 10.0,
        "target_point": [
            31.952333517981245,
            0.45310427801961684
        ],
        "target_point_next": [
            82.94969059448843,
            0.9779247679831116
        ]
    },
    "95": {
        "acceleration": [
            -2.180156707763672,
            -0.5488777160644531,
            0.0027996301651000977
        ],
        "angular_velocity": [
            -0.19316789507865906,
            -0.08752790093421936,
            1.0233486890792847
        ],
        "forward_vector": [
            -0.9882269501686096,
            -0.152920663356781,
            -0.004774433095008135
        ],
        "right_vector": [
            0.1529194563627243,
            -0.988238513469696,
            0.0006189114064909518
        ],
        "location": [
            3019.31591796875,
            4266.97607421875,
            361.49224853515625
        ],
        "rotation": [
            -0.0354614183306694,
            -0.2735559046268463,
            -171.20367431640625
        ],
        "velocity": [
            -12.877786636352539,
            -2.001030445098877,
            -0.12355540692806244
        ],
        "speed": 13.032325636417802,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 88.13048553466797,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.406516075134277,
                "transform": {
                    "location": {
                        "x": 3035.513916015625,
                        "y": 4269.41796875,
                        "z": 361.6198425292969
                    },
                    "rotation": {
                        "roll": 0.011963650584220886,
                        "pitch": -0.5331372022628784,
                        "yaw": -170.20608520507812
                    }
                },
                "velocity": {
                    "x": -10.248355865478516,
                    "y": -1.8004969358444214,
                    "z": 0.15803925693035126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.868246078491211,
                "transform": {
                    "location": {
                        "x": 3034.32373046875,
                        "y": 4272.51318359375,
                        "z": 361.629638671875
                    },
                    "rotation": {
                        "roll": -0.0373840294778347,
                        "pitch": -0.5598773956298828,
                        "yaw": -170.1477813720703
                    }
                },
                "velocity": {
                    "x": -10.71084976196289,
                    "y": -1.8428688049316406,
                    "z": 0.017240723595023155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.141119956970215,
                "transform": {
                    "location": {
                        "x": 2954.97021484375,
                        "y": 4266.30029296875,
                        "z": 360.9287109375
                    },
                    "rotation": {
                        "roll": -0.0007629372412338853,
                        "pitch": 0.4526844322681427,
                        "yaw": 9.63481616973877
                    }
                },
                "velocity": {
                    "x": 8.019640922546387,
                    "y": 1.4008543491363525,
                    "z": -0.028255462646484375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.093704223632812,
                "transform": {
                    "location": {
                        "x": 2955.894287109375,
                        "y": 4263.16796875,
                        "z": 360.96435546875
                    },
                    "rotation": {
                        "roll": -0.013610835187137127,
                        "pitch": 0.44847020506858826,
                        "yaw": 9.834027290344238
                    }
                },
                "velocity": {
                    "x": 7.968720436096191,
                    "y": 1.4155532121658325,
                    "z": 0.061204347759485245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.96859073638916,
                "transform": {
                    "location": {
                        "x": 2995.014404296875,
                        "y": 4272.8681640625,
                        "z": 361.3163146972656
                    },
                    "rotation": {
                        "roll": 0.002193083055317402,
                        "pitch": 0.5254327654838562,
                        "yaw": 9.219313621520996
                    }
                },
                "velocity": {
                    "x": 7.865553379058838,
                    "y": 1.2752755880355835,
                    "z": 0.07199092954397202
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051608085632324,
                "transform": {
                    "location": {
                        "x": 2996.10595703125,
                        "y": 4269.7529296875,
                        "z": 361.2865295410156
                    },
                    "rotation": {
                        "roll": 0.0009156651212833822,
                        "pitch": 0.5329732894897461,
                        "yaw": 9.217137336730957
                    }
                },
                "velocity": {
                    "x": 7.947305679321289,
                    "y": 1.2897109985351562,
                    "z": 0.073308065533638
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.617652893066406,
                "transform": {
                    "location": {
                        "x": 3001.01171875,
                        "y": 4267.05224609375,
                        "z": 361.32086181640625
                    },
                    "rotation": {
                        "roll": 0.0005881296820007265,
                        "pitch": -0.507414698600769,
                        "yaw": -170.8174285888672
                    }
                },
                "velocity": {
                    "x": -12.455052375793457,
                    "y": -2.015777826309204,
                    "z": -0.1160820946097374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.402700424194336,
                "transform": {
                    "location": {
                        "x": 2979.4892578125,
                        "y": 4263.56982421875,
                        "z": 361.1169738769531
                    },
                    "rotation": {
                        "roll": 0.00011762214126065373,
                        "pitch": -0.5190738439559937,
                        "yaw": -170.8177947998047
                    }
                },
                "velocity": {
                    "x": -13.230263710021973,
                    "y": -2.1396238803863525,
                    "z": -0.12046577036380768
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09199922531843185,
        "expert_target_speed": 10.0,
        "target_point": [
            28.76473950489777,
            0.34898100906175067
        ],
        "target_point_next": [
            79.76358397062405,
            0.7007316254401026
        ]
    },
    "100": {
        "acceleration": [
            -2.1725082397460938,
            -0.4782724380493164,
            -0.004583001136779785
        ],
        "angular_velocity": [
            0.025470400229096413,
            -0.05240726098418236,
            0.8048996925354004
        ],
        "forward_vector": [
            -0.9875344634056091,
            -0.1573246866464615,
            -0.00496349623426795
        ],
        "right_vector": [
            0.15732121467590332,
            -0.9875468611717224,
            0.0010844252537935972
        ],
        "location": [
            3016.023681640625,
            4266.45751953125,
            361.4606628417969
        ],
        "rotation": [
            -0.062133774161338806,
            -0.28438857197761536,
            -170.9482421875
        ],
        "velocity": [
            -13.429719924926758,
            -2.140627145767212,
            -0.12793591618537903
        ],
        "speed": 13.599252252942815,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 84.79800415039062,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.549124717712402,
                "transform": {
                    "location": {
                        "x": 3032.931396484375,
                        "y": 4268.9765625,
                        "z": 361.63037109375
                    },
                    "rotation": {
                        "roll": -0.009521479718387127,
                        "pitch": -0.5468180775642395,
                        "yaw": -170.31533813476562
                    }
                },
                "velocity": {
                    "x": -10.40113639831543,
                    "y": -1.7600111961364746,
                    "z": -0.052585527300834656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.57436466217041,
                "transform": {
                    "location": {
                        "x": 3031.9619140625,
                        "y": 4272.109375,
                        "z": 361.6219787597656
                    },
                    "rotation": {
                        "roll": -0.004669189453125,
                        "pitch": -0.9046584963798523,
                        "yaw": -170.3026885986328
                    }
                },
                "velocity": {
                    "x": -8.452611923217773,
                    "y": -1.4386999607086182,
                    "z": -0.056773483753204346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.893373966217041,
                "transform": {
                    "location": {
                        "x": 2956.943603515625,
                        "y": 4266.64111328125,
                        "z": 360.9369201660156
                    },
                    "rotation": {
                        "roll": 0.004727827850729227,
                        "pitch": 0.4566049575805664,
                        "yaw": 9.841551780700684
                    }
                },
                "velocity": {
                    "x": 7.778909683227539,
                    "y": 1.3379360437393188,
                    "z": 0.06202104315161705
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01710319519043,
                "transform": {
                    "location": {
                        "x": 2957.878662109375,
                        "y": 4263.50927734375,
                        "z": 360.9803161621094
                    },
                    "rotation": {
                        "roll": 0.009495201520621777,
                        "pitch": 0.4567756950855255,
                        "yaw": 9.764081954956055
                    }
                },
                "velocity": {
                    "x": 7.903132915496826,
                    "y": 1.3454452753067017,
                    "z": 0.0648258775472641
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.054126739501953,
                "transform": {
                    "location": {
                        "x": 2996.989990234375,
                        "y": 4273.1884765625,
                        "z": 361.334716796875
                    },
                    "rotation": {
                        "roll": 0.002625807886943221,
                        "pitch": 0.5335128903388977,
                        "yaw": 9.206625938415527
                    }
                },
                "velocity": {
                    "x": 7.950281620025635,
                    "y": 1.2870970964431763,
                    "z": 0.07326984405517578
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042914390563965,
                "transform": {
                    "location": {
                        "x": 2998.092041015625,
                        "y": 4270.0751953125,
                        "z": 361.3050231933594
                    },
                    "rotation": {
                        "roll": 0.0003550751134753227,
                        "pitch": 0.5327957272529602,
                        "yaw": 9.213871002197266
                    }
                },
                "velocity": {
                    "x": 7.938821315765381,
                    "y": 1.2877748012542725,
                    "z": 0.07226117700338364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.997509002685547,
                "transform": {
                    "location": {
                        "x": 2997.837158203125,
                        "y": 4266.53857421875,
                        "z": 361.2912902832031
                    },
                    "rotation": {
                        "roll": 0.001443298882804811,
                        "pitch": -0.5131794214248657,
                        "yaw": -170.8122100830078
                    }
                },
                "velocity": {
                    "x": -12.830059051513672,
                    "y": -2.076181173324585,
                    "z": -0.11956996470689774
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.403462409973145,
                "transform": {
                    "location": {
                        "x": 2976.183349609375,
                        "y": 4263.03466796875,
                        "z": 361.08709716796875
                    },
                    "rotation": {
                        "roll": 0.0007097639027051628,
                        "pitch": -0.5080567598342896,
                        "yaw": -170.8070068359375
                    }
                },
                "velocity": {
                    "x": -13.230950355529785,
                    "y": -2.140254497528076,
                    "z": -0.1186298280954361
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07890433073043823,
        "expert_target_speed": 10.0,
        "target_point": [
            25.433190086407482,
            0.2266052112147534
        ],
        "target_point_next": [
            76.4330958763811,
            0.35100275652630053
        ]
    },
    "105": {
        "acceleration": [
            -1.4109420776367188,
            -0.2340555191040039,
            -0.016861259937286377
        ],
        "angular_velocity": [
            0.12407694011926651,
            -0.23158083856105804,
            -0.07441598922014236
        ],
        "forward_vector": [
            -0.9874157905578613,
            -0.1580525040626526,
            -0.005430671852082014
        ],
        "right_vector": [
            0.1580517441034317,
            -0.9874306321144104,
            0.0005709730903618038
        ],
        "location": [
            3012.60107421875,
            4265.91162109375,
            361.42791748046875
        ],
        "rotation": [
            -0.032714832574129105,
            -0.31115609407424927,
            -170.90599060058594
        ],
        "velocity": [
            -13.894853591918945,
            -2.2215535640716553,
            -0.13262471556663513
        ],
        "speed": 14.071327463281575,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 81.33242797851562,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.425402641296387,
                "transform": {
                    "location": {
                        "x": 3030.638916015625,
                        "y": 4268.5888671875,
                        "z": 361.6098327636719
                    },
                    "rotation": {
                        "roll": -0.005828856956213713,
                        "pitch": -0.3818075656890869,
                        "yaw": -170.3859100341797
                    }
                },
                "velocity": {
                    "x": -8.307634353637695,
                    "y": -1.4014703035354614,
                    "z": -0.08064195513725281
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.705275535583496,
                "transform": {
                    "location": {
                        "x": 3029.87060546875,
                        "y": 4271.7548828125,
                        "z": 361.60467529296875
                    },
                    "rotation": {
                        "roll": 0.0006875374238006771,
                        "pitch": -0.6401389837265015,
                        "yaw": -170.3887939453125
                    }
                },
                "velocity": {
                    "x": -8.58309268951416,
                    "y": -1.4512873888015747,
                    "z": -0.07824094593524933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059765815734863,
                "transform": {
                    "location": {
                        "x": 2958.909912109375,
                        "y": 4266.97900390625,
                        "z": 360.9533996582031
                    },
                    "rotation": {
                        "roll": 0.006049068178981543,
                        "pitch": 0.4685714542865753,
                        "yaw": 9.741250038146973
                    }
                },
                "velocity": {
                    "x": 7.944510459899902,
                    "y": 1.356467604637146,
                    "z": 0.06760934740304947
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024679183959961,
                "transform": {
                    "location": {
                        "x": 2959.85546875,
                        "y": 4263.845703125,
                        "z": 360.9964294433594
                    },
                    "rotation": {
                        "roll": 0.006815802305936813,
                        "pitch": 0.46805235743522644,
                        "yaw": 9.659697532653809
                    }
                },
                "velocity": {
                    "x": 7.911337852478027,
                    "y": 1.3423324823379517,
                    "z": 0.06603044271469116
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012621879577637,
                "transform": {
                    "location": {
                        "x": 2998.974365234375,
                        "y": 4273.509765625,
                        "z": 361.3532409667969
                    },
                    "rotation": {
                        "roll": 0.000976602197624743,
                        "pitch": 0.5309515595436096,
                        "yaw": 9.203371047973633
                    }
                },
                "velocity": {
                    "x": 7.909138202667236,
                    "y": 1.2815546989440918,
                    "z": 0.07257401943206787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048442840576172,
                "transform": {
                    "location": {
                        "x": 3000.077392578125,
                        "y": 4270.3974609375,
                        "z": 361.3235778808594
                    },
                    "rotation": {
                        "roll": 0.0008622650057077408,
                        "pitch": 0.5313271880149841,
                        "yaw": 9.208986282348633
                    }
                },
                "velocity": {
                    "x": 7.944363117218018,
                    "y": 1.2880626916885376,
                    "z": 0.07362605631351471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.981489181518555,
                "transform": {
                    "location": {
                        "x": 2994.628662109375,
                        "y": 4266.01904296875,
                        "z": 361.261474609375
                    },
                    "rotation": {
                        "roll": 0.0011244239285588264,
                        "pitch": -0.5264231562614441,
                        "yaw": -170.81146240234375
                    }
                },
                "velocity": {
                    "x": -12.814390182495117,
                    "y": -2.0727016925811768,
                    "z": -0.11983957141637802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.421758651733398,
                "transform": {
                    "location": {
                        "x": 2972.872314453125,
                        "y": 4262.49951171875,
                        "z": 361.0576477050781
                    },
                    "rotation": {
                        "roll": 0.0011863362742587924,
                        "pitch": -0.4960629642009735,
                        "yaw": -170.81443786621094
                    }
                },
                "velocity": {
                    "x": -13.248994827270508,
                    "y": -2.1434123516082764,
                    "z": -0.11636190861463547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08619608730077744,
        "expert_target_speed": 10.0,
        "target_point": [
            21.967481940752403,
            0.209777686438398
        ],
        "target_point_next": [
            72.96746557743982,
            0.2965785682283979
        ]
    },
    "110": {
        "acceleration": [
            -0.8057403564453125,
            -0.10320186614990234,
            0.001685023307800293
        ],
        "angular_velocity": [
            0.13605748116970062,
            -0.23970019817352295,
            -0.11965753138065338
        ],
        "forward_vector": [
            -0.9874833822250366,
            -0.1575845181941986,
            -0.0066136824898421764
        ],
        "right_vector": [
            0.15758712589740753,
            -0.9875050783157349,
            0.00012836160021834075
        ],
        "location": [
            3009.095458984375,
            4265.3515625,
            361.3949279785156
        ],
        "rotation": [
            -0.0073547386564314365,
            -0.3789388835430145,
            -170.93307495117188
        ],
        "velocity": [
            -14.126740455627441,
            -2.254520893096924,
            -0.13396525382995605
        ],
        "speed": 14.305511537797996,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.78268432617188,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.58169937133789,
                "transform": {
                    "location": {
                        "x": 3028.564208984375,
                        "y": 4268.2421875,
                        "z": 361.5905456542969
                    },
                    "rotation": {
                        "roll": -0.008575438521802425,
                        "pitch": -0.5277686715126038,
                        "yaw": -170.55384826660156
                    }
                },
                "velocity": {
                    "x": -8.466835021972656,
                    "y": -1.3968970775604248,
                    "z": -0.08330734074115753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.517102241516113,
                "transform": {
                    "location": {
                        "x": 3027.468994140625,
                        "y": 4271.35498046875,
                        "z": 361.5819396972656
                    },
                    "rotation": {
                        "roll": 0.013807077892124653,
                        "pitch": -0.29400548338890076,
                        "yaw": -170.5646514892578
                    }
                },
                "velocity": {
                    "x": -10.375184059143066,
                    "y": -1.7189828157424927,
                    "z": -0.10043878108263016
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.348680019378662,
                "transform": {
                    "location": {
                        "x": 2960.80126953125,
                        "y": 4267.30126953125,
                        "z": 360.9693603515625
                    },
                    "rotation": {
                        "roll": 0.005566027946770191,
                        "pitch": 0.45737674832344055,
                        "yaw": 9.63332462310791
                    }
                },
                "velocity": {
                    "x": 7.246920585632324,
                    "y": 1.2172132730484009,
                    "z": 0.06027394160628319
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.089425086975098,
                "transform": {
                    "location": {
                        "x": 2961.792724609375,
                        "y": 4264.1728515625,
                        "z": 361.01300048828125
                    },
                    "rotation": {
                        "roll": 0.009225567802786827,
                        "pitch": 0.4077417850494385,
                        "yaw": 9.540915489196777
                    }
                },
                "velocity": {
                    "x": 6.993505477905273,
                    "y": 1.1607410907745361,
                    "z": 0.05920323356986046
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028168678283691,
                "transform": {
                    "location": {
                        "x": 3000.9521484375,
                        "y": 4273.83056640625,
                        "z": 361.3717346191406
                    },
                    "rotation": {
                        "roll": -0.0006408748449757695,
                        "pitch": 0.533021092414856,
                        "yaw": 9.203268051147461
                    }
                },
                "velocity": {
                    "x": 7.924474716186523,
                    "y": 1.283963918685913,
                    "z": 0.0749753937125206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040706634521484,
                "transform": {
                    "location": {
                        "x": 3002.062744140625,
                        "y": 4270.7197265625,
                        "z": 361.3421325683594
                    },
                    "rotation": {
                        "roll": 0.0005188269424252212,
                        "pitch": 0.5368801355361938,
                        "yaw": 9.199919700622559
                    }
                },
                "velocity": {
                    "x": 7.937062740325928,
                    "y": 1.284641981124878,
                    "z": 0.07543206959962845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.954062461853027,
                "transform": {
                    "location": {
                        "x": 2991.4296875,
                        "y": 4265.501953125,
                        "z": 361.2315979003906
                    },
                    "rotation": {
                        "roll": 0.00033460016129538417,
                        "pitch": -0.5294762253761292,
                        "yaw": -170.81114196777344
                    }
                },
                "velocity": {
                    "x": -12.787301063537598,
                    "y": -2.0684313774108887,
                    "z": -0.11929912120103836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.420184135437012,
                "transform": {
                    "location": {
                        "x": 2969.560302734375,
                        "y": 4261.96435546875,
                        "z": 361.02880859375
                    },
                    "rotation": {
                        "roll": 0.0007758087594993412,
                        "pitch": -0.4931327998638153,
                        "yaw": -170.8065185546875
                    }
                },
                "velocity": {
                    "x": -13.247472763061523,
                    "y": -2.143023729324341,
                    "z": -0.11512655019760132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08762679249048233,
        "expert_target_speed": 10.0,
        "target_point": [
            18.417309560075324,
            0.21953116805792927
        ],
        "target_point_next": [
            69.4172465381313,
            0.3304075396750523
        ]
    },
    "115": {
        "acceleration": [
            -1.1104774475097656,
            -0.11652469635009766,
            5.662441253662109e-06
        ],
        "angular_velocity": [
            0.05851240083575249,
            0.0069411941803991795,
            -0.2517353296279907
        ],
        "forward_vector": [
            -0.9876129031181335,
            -0.15674328804016113,
            -0.007228191941976547
        ],
        "right_vector": [
            0.15674851834774017,
            -0.987638533115387,
            -0.0001584036654094234
        ],
        "location": [
            3005.53515625,
            4264.78466796875,
            361.3614807128906
        ],
        "rotation": [
            0.00907609798014164,
            -0.4141485095024109,
            -170.98184204101562
        ],
        "velocity": [
            -14.36363410949707,
            -2.2788569927215576,
            -0.13462257385253906
        ],
        "speed": 14.54328621821023,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.1779556274414,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.800604820251465,
                "transform": {
                    "location": {
                        "x": 3039.707763671875,
                        "y": 4273.41552734375,
                        "z": 362.04644775390625
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -10.608110427856445,
                    "y": -1.7165392637252808,
                    "z": -1.0837652683258057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.982179641723633,
                "transform": {
                    "location": {
                        "x": 3026.375244140625,
                        "y": 4267.880859375,
                        "z": 361.5695495605469
                    },
                    "rotation": {
                        "roll": -0.0038146963343024254,
                        "pitch": -0.580689013004303,
                        "yaw": -170.6029052734375
                    }
                },
                "velocity": {
                    "x": -8.861699104309082,
                    "y": -1.463735818862915,
                    "z": -0.08559641987085342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.544015884399414,
                "transform": {
                    "location": {
                        "x": 3024.786865234375,
                        "y": 4270.912109375,
                        "z": 361.5559997558594
                    },
                    "rotation": {
                        "roll": 0.007890906184911728,
                        "pitch": -0.30884063243865967,
                        "yaw": -170.63912963867188
                    }
                },
                "velocity": {
                    "x": -11.389792442321777,
                    "y": -1.8774174451828003,
                    "z": -0.11061964929103851
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03497314453125,
                "transform": {
                    "location": {
                        "x": 2962.67333984375,
                        "y": 4267.6142578125,
                        "z": 360.98492431640625
                    },
                    "rotation": {
                        "roll": 0.00304405833594501,
                        "pitch": 0.4839325249195099,
                        "yaw": 9.471692085266113
                    }
                },
                "velocity": {
                    "x": 7.926564693450928,
                    "y": 1.313726782798767,
                    "z": 0.06695466488599777
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.964209079742432,
                "transform": {
                    "location": {
                        "x": 2963.33837890625,
                        "y": 4264.4306640625,
                        "z": 361.0265197753906
                    },
                    "rotation": {
                        "roll": 0.0045773726888000965,
                        "pitch": 0.3600602447986603,
                        "yaw": 9.352499008178711
                    }
                },
                "velocity": {
                    "x": 5.88422966003418,
                    "y": 0.9721497297286987,
                    "z": 0.050604771822690964
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015656471252441,
                "transform": {
                    "location": {
                        "x": 3002.93212890625,
                        "y": 4274.1513671875,
                        "z": 361.3903503417969
                    },
                    "rotation": {
                        "roll": -0.00045776626211591065,
                        "pitch": 0.5384306311607361,
                        "yaw": 9.194595336914062
                    }
                },
                "velocity": {
                    "x": 7.91236686706543,
                    "y": 1.2804495096206665,
                    "z": 0.07514297217130661
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051929473876953,
                "transform": {
                    "location": {
                        "x": 3004.04833984375,
                        "y": 4271.04052734375,
                        "z": 361.36090087890625
                    },
                    "rotation": {
                        "roll": 0.0009258014615625143,
                        "pitch": 0.537774920463562,
                        "yaw": 9.184613227844238
                    }
                },
                "velocity": {
                    "x": 7.948354244232178,
                    "y": 1.2851171493530273,
                    "z": 0.0755237340927124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.94139289855957,
                "transform": {
                    "location": {
                        "x": 2988.234619140625,
                        "y": 4264.984375,
                        "z": 361.2017822265625
                    },
                    "rotation": {
                        "roll": -0.0005798336933366954,
                        "pitch": -0.5285336971282959,
                        "yaw": -170.81103515625
                    }
                },
                "velocity": {
                    "x": -12.774785041809082,
                    "y": -2.0664637088775635,
                    "z": -0.11936528235673904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.417729377746582,
                "transform": {
                    "location": {
                        "x": 2966.248779296875,
                        "y": 4261.42919921875,
                        "z": 361.00030517578125
                    },
                    "rotation": {
                        "roll": 0.0006369175389409065,
                        "pitch": -0.48077017068862915,
                        "yaw": -170.80934143066406
                    }
                },
                "velocity": {
                    "x": -13.244864463806152,
                    "y": -2.143897294998169,
                    "z": -0.11277545988559723
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09381317347288132,
        "expert_target_speed": 10.0,
        "target_point": [
            14.811963822274208,
            0.23339651243381487
        ],
        "target_point_next": [
            65.81178788006326,
            0.3877059743134499
        ]
    },
    "120": {
        "acceleration": [
            -1.8837356567382812,
            -0.2275371551513672,
            -0.028650760650634766
        ],
        "angular_velocity": [
            -0.01519562304019928,
            0.2565461993217468,
            -0.2681487798690796
        ],
        "forward_vector": [
            -0.9877961874008179,
            -0.15561053156852722,
            -0.006630729418247938
        ],
        "right_vector": [
            0.15561625361442566,
            -0.9878175258636475,
            -0.00035237878910265863
        ],
        "location": [
            3001.896240234375,
            4264.20947265625,
            361.3271789550781
        ],
        "rotation": [
            0.02019026130437851,
            -0.37991559505462646,
            -171.04759216308594
        ],
        "velocity": [
            -14.764352798461914,
            -2.3257405757904053,
            -0.1383391171693802
        ],
        "speed": 14.946410364476415,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.49442291259766,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2923.64990234375,
                        "y": 4261.220703125,
                        "z": 361.0022888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.41485199332237244,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2924.1689453125,
                        "y": 4258.01220703125,
                        "z": 361.0022888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.41485199332237244,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.898110389709473,
                "transform": {
                    "location": {
                        "x": 3039.255859375,
                        "y": 4270.05029296875,
                        "z": 361.8850402832031
                    },
                    "rotation": {
                        "roll": 1.0005625661335671e-08,
                        "pitch": -0.5528559684753418,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -9.558439254760742,
                    "y": -1.5466886758804321,
                    "z": -2.0534329414367676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.389044761657715,
                "transform": {
                    "location": {
                        "x": 3037.083251953125,
                        "y": 4272.986328125,
                        "z": 361.63018798828125
                    },
                    "rotation": {
                        "roll": -0.031433094292879105,
                        "pitch": -0.593010663986206,
                        "yaw": -170.63180541992188
                    }
                },
                "velocity": {
                    "x": -10.23636245727539,
                    "y": -1.7205071449279785,
                    "z": -0.43471893668174744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.215194702148438,
                "transform": {
                    "location": {
                        "x": 3023.81591796875,
                        "y": 4267.46044921875,
                        "z": 361.5458984375
                    },
                    "rotation": {
                        "roll": -0.0054626502096652985,
                        "pitch": -0.7216436266899109,
                        "yaw": -170.70657348632812
                    }
                },
                "velocity": {
                    "x": -11.068343162536621,
                    "y": -1.8057873249053955,
                    "z": -0.10733621567487717
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.839037895202637,
                "transform": {
                    "location": {
                        "x": 3021.76171875,
                        "y": 4270.41650390625,
                        "z": 361.5266418457031
                    },
                    "rotation": {
                        "roll": 0.009855903685092926,
                        "pitch": -0.2819570302963257,
                        "yaw": -170.72715759277344
                    }
                },
                "velocity": {
                    "x": -12.670697212219238,
                    "y": -2.0686116218566895,
                    "z": -0.12318538129329681
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.26130485534668,
                "transform": {
                    "location": {
                        "x": 2964.724853515625,
                        "y": 4267.9541015625,
                        "z": 361.0021667480469
                    },
                    "rotation": {
                        "roll": 0.001896274508908391,
                        "pitch": 0.49261370301246643,
                        "yaw": 9.382454872131348
                    }
                },
                "velocity": {
                    "x": 8.150775909423828,
                    "y": 1.3451379537582397,
                    "z": 0.0679558739066124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.037258625030518,
                "transform": {
                    "location": {
                        "x": 2964.8203125,
                        "y": 4264.6748046875,
                        "z": 361.03814697265625
                    },
                    "rotation": {
                        "roll": 0.0031484642531722784,
                        "pitch": 0.46580520272254944,
                        "yaw": 9.346142768859863
                    }
                },
                "velocity": {
                    "x": 5.956907749176025,
                    "y": 0.9804897904396057,
                    "z": 0.04877179116010666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.038212776184082,
                "transform": {
                    "location": {
                        "x": 3004.913330078125,
                        "y": 4274.47216796875,
                        "z": 361.4090576171875
                    },
                    "rotation": {
                        "roll": 0.0015635479940101504,
                        "pitch": 0.5362995862960815,
                        "yaw": 9.18920612335205
                    }
                },
                "velocity": {
                    "x": 7.9347052574157715,
                    "y": 1.2835547924041748,
                    "z": 0.07612565904855728
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039443016052246,
                "transform": {
                    "location": {
                        "x": 3006.033935546875,
                        "y": 4271.3603515625,
                        "z": 361.3796081542969
                    },
                    "rotation": {
                        "roll": 0.0024020143318921328,
                        "pitch": 0.5375221967697144,
                        "yaw": 9.174412727355957
                    }
                },
                "velocity": {
                    "x": 7.93623685836792,
                    "y": 1.2818151712417603,
                    "z": 0.07574651390314102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.951067924499512,
                "transform": {
                    "location": {
                        "x": 2985.03955078125,
                        "y": 4264.466796875,
                        "z": 361.1720275878906
                    },
                    "rotation": {
                        "roll": 0.00020564142323564738,
                        "pitch": -0.5273452401161194,
                        "yaw": -170.81092834472656
                    }
                },
                "velocity": {
                    "x": -12.784329414367676,
                    "y": -2.0680606365203857,
                    "z": -0.11928250640630722
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.417851448059082,
                "transform": {
                    "location": {
                        "x": 2962.9375,
                        "y": 4260.8916015625,
                        "z": 360.9724426269531
                    },
                    "rotation": {
                        "roll": -0.0009155299048870802,
                        "pitch": -0.47271737456321716,
                        "yaw": -170.79420471191406
                    }
                },
                "velocity": {
                    "x": -13.244773864746094,
                    "y": -2.1453158855438232,
                    "z": -0.11093083024024963
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10040796548128128,
        "expert_target_speed": 10.0,
        "target_point": [
            11.127591338863486,
            0.24846794096552172
        ],
        "target_point_next": [
            62.127204798325835,
            0.46128786693754265
        ]
    },
    "125": {
        "acceleration": [
            -2.0911407470703125,
            -0.2544689178466797,
            -0.03400683403015137
        ],
        "angular_velocity": [
            -0.017846791073679924,
            0.1455017477273941,
            -0.27554750442504883
        ],
        "forward_vector": [
            -0.9879857897758484,
            -0.15443797409534454,
            -0.0057310741394758224
        ],
        "right_vector": [
            0.15444308519363403,
            -0.9880015254020691,
            -0.0004541860253084451
        ],
        "location": [
            2998.139404296875,
            4263.61962890625,
            361.2919006347656
        ],
        "rotation": [
            0.026023373007774353,
            -0.3283681571483612,
            -171.1156463623047
        ],
        "velocity": [
            -15.273058891296387,
            -2.3876938819885254,
            -0.14213311672210693
        ],
        "speed": 15.458570760943362,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.69232177734375,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2925.682861328125,
                        "y": 4261.5498046875,
                        "z": 360.7247314453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.41485199332237244,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2926.201904296875,
                        "y": 4258.34130859375,
                        "z": 360.7247314453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.41485199332237244,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.559054374694824,
                "transform": {
                    "location": {
                        "x": 3036.916259765625,
                        "y": 4269.65869140625,
                        "z": 361.6024475097656
                    },
                    "rotation": {
                        "roll": -0.0906677320599556,
                        "pitch": -0.6088020205497742,
                        "yaw": -170.3905792236328
                    }
                },
                "velocity": {
                    "x": -9.419493675231934,
                    "y": -1.626429557800293,
                    "z": -0.058233726769685745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.568236351013184,
                "transform": {
                    "location": {
                        "x": 3034.49609375,
                        "y": 4272.541015625,
                        "z": 361.62945556640625
                    },
                    "rotation": {
                        "roll": -0.0390930138528347,
                        "pitch": -0.5581972002983093,
                        "yaw": -170.1019287109375
                    }
                },
                "velocity": {
                    "x": -10.410788536071777,
                    "y": -1.8173224925994873,
                    "z": 0.02110249549150467
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.154613494873047,
                "transform": {
                    "location": {
                        "x": 3020.922119140625,
                        "y": 4266.98779296875,
                        "z": 361.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0010681210551410913,
                        "pitch": -0.656859278678894,
                        "yaw": -170.72976684570312
                    }
                },
                "velocity": {
                    "x": -11.99550724029541,
                    "y": -1.9568042755126953,
                    "z": -0.11548640578985214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.809545516967773,
                "transform": {
                    "location": {
                        "x": 3018.458740234375,
                        "y": 4269.8779296875,
                        "z": 361.4947204589844
                    },
                    "rotation": {
                        "roll": 0.008532210253179073,
                        "pitch": -0.3182663023471832,
                        "yaw": -170.76318359375
                    }
                },
                "velocity": {
                    "x": -13.62999153137207,
                    "y": -2.2158026695251465,
                    "z": -0.13076971471309662
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.89741325378418,
                "transform": {
                    "location": {
                        "x": 2966.706787109375,
                        "y": 4268.27978515625,
                        "z": 361.0191650390625
                    },
                    "rotation": {
                        "roll": 0.001389394630677998,
                        "pitch": 0.4769316017627716,
                        "yaw": 9.320432662963867
                    }
                },
                "velocity": {
                    "x": 7.793514728546143,
                    "y": 1.2750314474105835,
                    "z": 0.06749614328145981
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.437654495239258,
                "transform": {
                    "location": {
                        "x": 2966.631591796875,
                        "y": 4264.97216796875,
                        "z": 361.05181884765625
                    },
                    "rotation": {
                        "roll": 0.004444835241883993,
                        "pitch": 0.6697068214416504,
                        "yaw": 9.315489768981934
                    }
                },
                "velocity": {
                    "x": 8.326950073242188,
                    "y": 1.3604705333709717,
                    "z": 0.07092748582363129
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.004117012023926,
                "transform": {
                    "location": {
                        "x": 3006.89208984375,
                        "y": 4274.79248046875,
                        "z": 361.4277648925781
                    },
                    "rotation": {
                        "roll": -0.0007934605237096548,
                        "pitch": 0.5360468626022339,
                        "yaw": 9.188255310058594
                    }
                },
                "velocity": {
                    "x": 7.901075839996338,
                    "y": 1.2780280113220215,
                    "z": 0.07441152632236481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051698684692383,
                "transform": {
                    "location": {
                        "x": 3008.01953125,
                        "y": 4271.68115234375,
                        "z": 361.3983459472656
                    },
                    "rotation": {
                        "roll": -0.000427245773607865,
                        "pitch": 0.5374948978424072,
                        "yaw": 9.179731369018555
                    }
                },
                "velocity": {
                    "x": 7.94811487197876,
                    "y": 1.2851409912109375,
                    "z": 0.07568284869194031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.944049835205078,
                "transform": {
                    "location": {
                        "x": 2981.8447265625,
                        "y": 4263.94970703125,
                        "z": 361.1424255371094
                    },
                    "rotation": {
                        "roll": 0.000782896124292165,
                        "pitch": -0.5215805172920227,
                        "yaw": -170.81431579589844
                    }
                },
                "velocity": {
                    "x": -12.777496337890625,
                    "y": -2.06638503074646,
                    "z": -0.11851593106985092
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.418025016784668,
                "transform": {
                    "location": {
                        "x": 2959.626220703125,
                        "y": 4260.35498046875,
                        "z": 360.9449768066406
                    },
                    "rotation": {
                        "roll": -0.0009765560971572995,
                        "pitch": -0.4678952395915985,
                        "yaw": -170.80186462402344
                    }
                },
                "velocity": {
                    "x": -13.244890213012695,
                    "y": -2.1457321643829346,
                    "z": -0.11001577228307724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10696800798177719,
        "expert_target_speed": 10.0,
        "target_point": [
            58.32375552728897,
            0.5325235325106998
        ],
        "target_point_next": [
            109.32308022205206,
            0.8059207043893046
        ]
    },
    "130": {
        "acceleration": [
            -2.0903968811035156,
            -0.2466440200805664,
            -0.02236783504486084
        ],
        "angular_velocity": [
            0.01953074522316456,
            0.04883679002523422,
            -0.28257161378860474
        ],
        "forward_vector": [
            -0.988175630569458,
            -0.1532347947359085,
            -0.005297516472637653
        ],
        "right_vector": [
            0.1532396525144577,
            -0.9881889224052429,
            -0.0005197356804274023
        ],
        "location": [
            2994.252197265625,
            4263.01416015625,
            361.2555847167969
        ],
        "rotation": [
            0.02977907657623291,
            -0.30352675914764404,
            -171.18544006347656
        ],
        "velocity": [
            -15.800006866455078,
            -2.45076322555542,
            -0.14734488725662231
        ],
        "speed": 15.98894797564125,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.7592658996582,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.680757999420166,
                "transform": {
                    "location": {
                        "x": 2927.62451171875,
                        "y": 4261.86376953125,
                        "z": 360.7268371582031
                    },
                    "rotation": {
                        "roll": -0.0012512197718024254,
                        "pitch": 0.38313260674476624,
                        "yaw": 9.209558486938477
                    }
                },
                "velocity": {
                    "x": 6.5923075675964355,
                    "y": 1.0830601453781128,
                    "z": -0.0314948596060276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.902031898498535,
                "transform": {
                    "location": {
                        "x": 2928.066162109375,
                        "y": 4258.64501953125,
                        "z": 360.72564697265625
                    },
                    "rotation": {
                        "roll": -0.017547607421875,
                        "pitch": 0.21715901792049408,
                        "yaw": 9.322709083557129
                    }
                },
                "velocity": {
                    "x": 6.807138442993164,
                    "y": 1.1405707597732544,
                    "z": -0.0016352366656064987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.557952880859375,
                "transform": {
                    "location": {
                        "x": 3034.62060546875,
                        "y": 4269.26220703125,
                        "z": 361.6151123046875
                    },
                    "rotation": {
                        "roll": -0.02984619140625,
                        "pitch": -0.751218318939209,
                        "yaw": -170.19854736328125
                    }
                },
                "velocity": {
                    "x": -8.435357093811035,
                    "y": -1.4427380561828613,
                    "z": 0.04273250326514244
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.298471450805664,
                "transform": {
                    "location": {
                        "x": 3032.1767578125,
                        "y": 4272.142578125,
                        "z": 361.6221008300781
                    },
                    "rotation": {
                        "roll": -0.003265372710302472,
                        "pitch": -0.8294922709465027,
                        "yaw": -170.30044555664062
                    }
                },
                "velocity": {
                    "x": -8.180371284484863,
                    "y": -1.3940001726150513,
                    "z": -0.05396140366792679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.9623384475708,
                "transform": {
                    "location": {
                        "x": 3017.818359375,
                        "y": 4266.48291015625,
                        "z": 361.4871826171875
                    },
                    "rotation": {
                        "roll": -0.0020141592249274254,
                        "pitch": -0.6269840002059937,
                        "yaw": -170.7641143798828
                    }
                },
                "velocity": {
                    "x": -12.793919563293457,
                    "y": -2.0790927410125732,
                    "z": -0.12333285063505173
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.552603721618652,
                "transform": {
                    "location": {
                        "x": 3014.985595703125,
                        "y": 4269.314453125,
                        "z": 361.46136474609375
                    },
                    "rotation": {
                        "roll": 0.006410796660929918,
                        "pitch": -0.36160385608673096,
                        "yaw": -170.79319763183594
                    }
                },
                "velocity": {
                    "x": -14.364301681518555,
                    "y": -2.329408884048462,
                    "z": -0.13770024478435516
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.125456809997559,
                "transform": {
                    "location": {
                        "x": 2968.677734375,
                        "y": 4268.60205078125,
                        "z": 361.0362548828125
                    },
                    "rotation": {
                        "roll": 0.00019060207705479115,
                        "pitch": 0.4953526258468628,
                        "yaw": 9.274646759033203
                    }
                },
                "velocity": {
                    "x": 8.019124984741211,
                    "y": 1.3084547519683838,
                    "z": 0.06811095774173737
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.106915473937988,
                "transform": {
                    "location": {
                        "x": 2968.698974609375,
                        "y": 4265.310546875,
                        "z": 361.0709228515625
                    },
                    "rotation": {
                        "roll": 0.0014359967317432165,
                        "pitch": 0.5219357013702393,
                        "yaw": 9.283195495605469
                    }
                },
                "velocity": {
                    "x": 8.000459671020508,
                    "y": 1.3075852394104004,
                    "z": 0.0702943205833435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045228958129883,
                "transform": {
                    "location": {
                        "x": 3008.873046875,
                        "y": 4275.11279296875,
                        "z": 361.4464416503906
                    },
                    "rotation": {
                        "roll": -0.00015258874918799847,
                        "pitch": 0.5381505489349365,
                        "yaw": 9.191664695739746
                    }
                },
                "velocity": {
                    "x": 7.941579341888428,
                    "y": 1.2850022315979004,
                    "z": 0.07612569630146027
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039408683776855,
                "transform": {
                    "location": {
                        "x": 3010.0048828125,
                        "y": 4272.001953125,
                        "z": 361.41717529296875
                    },
                    "rotation": {
                        "roll": 0.0004160731041338295,
                        "pitch": 0.5411695241928101,
                        "yaw": 9.184854507446289
                    }
                },
                "velocity": {
                    "x": 7.935983180999756,
                    "y": 1.2831640243530273,
                    "z": 0.07585370540618896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.951469421386719,
                "transform": {
                    "location": {
                        "x": 2978.64892578125,
                        "y": 4263.43310546875,
                        "z": 361.1131286621094
                    },
                    "rotation": {
                        "roll": 0.0016120588406920433,
                        "pitch": -0.5115674734115601,
                        "yaw": -170.81729125976562
                    }
                },
                "velocity": {
                    "x": -12.785127639770508,
                    "y": -2.0658884048461914,
                    "z": -0.11477760225534439
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.417682647705078,
                "transform": {
                    "location": {
                        "x": 2956.31494140625,
                        "y": 4259.8193359375,
                        "z": 360.91802978515625
                    },
                    "rotation": {
                        "roll": -0.0011596647091209888,
                        "pitch": -0.4553208649158478,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -13.245118141174316,
                    "y": -2.1423544883728027,
                    "z": -0.10666947066783905
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1169983372092247,
        "expert_target_speed": 10.0,
        "target_point": [
            54.38898620198209,
            0.6009253843545821
        ],
        "target_point_next": [
            105.38793996270455,
            0.9364557811230672
        ]
    },
    "135": {
        "acceleration": [
            -1.6792678833007812,
            -0.17835617065429688,
            -0.002345144748687744
        ],
        "angular_velocity": [
            0.00813121348619461,
            -0.091948501765728,
            -0.2900140881538391
        ],
        "forward_vector": [
            -0.9883661866188049,
            -0.15199819207191467,
            -0.005368445068597794
        ],
        "right_vector": [
            0.15200339257717133,
            -0.9883797764778137,
            -0.000573613157030195
        ],
        "location": [
            2990.23828125,
            4262.39404296875,
            361.2181091308594
        ],
        "rotation": [
            0.032866090536117554,
            -0.3075907230377197,
            -171.2571258544922
        ],
        "velocity": [
            -16.271949768066406,
            -2.5037078857421875,
            -0.15081121027469635
        ],
        "speed": 16.46344139090014,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.69908905029297,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.87278413772583,
                "transform": {
                    "location": {
                        "x": 2929.2958984375,
                        "y": 4262.14501953125,
                        "z": 360.7272644042969
                    },
                    "rotation": {
                        "roll": -0.0011596641270443797,
                        "pitch": 0.40881413221359253,
                        "yaw": 9.581474304199219
                    }
                },
                "velocity": {
                    "x": 6.771516799926758,
                    "y": 1.175005316734314,
                    "z": 0.03293202444911003
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.6483354568481445,
                "transform": {
                    "location": {
                        "x": 2929.7353515625,
                        "y": 4258.9306640625,
                        "z": 360.7312316894531
                    },
                    "rotation": {
                        "roll": -0.01370239071547985,
                        "pitch": 0.36068177223205566,
                        "yaw": 9.69847297668457
                    }
                },
                "velocity": {
                    "x": 6.551163673400879,
                    "y": 1.1319259405136108,
                    "z": 0.036934975534677505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.138840198516846,
                "transform": {
                    "location": {
                        "x": 3032.760498046875,
                        "y": 4268.94482421875,
                        "z": 361.6174621582031
                    },
                    "rotation": {
                        "roll": 0.00541227450594306,
                        "pitch": -1.089073657989502,
                        "yaw": -170.56687927246094
                    }
                },
                "velocity": {
                    "x": -7.03920841217041,
                    "y": -1.1882164478302002,
                    "z": -0.026982802897691727
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.238176345825195,
                "transform": {
                    "location": {
                        "x": 3030.15869140625,
                        "y": 4271.80078125,
                        "z": 361.6057434082031
                    },
                    "rotation": {
                        "roll": 0.0004642107232939452,
                        "pitch": -0.6300029754638672,
                        "yaw": -170.38917541503906
                    }
                },
                "velocity": {
                    "x": -8.122902870178223,
                    "y": -1.3712949752807617,
                    "z": -0.07452110946178436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.736993789672852,
                "transform": {
                    "location": {
                        "x": 3014.52001953125,
                        "y": 4265.94677734375,
                        "z": 361.4554748535156
                    },
                    "rotation": {
                        "roll": -0.0008850083686411381,
                        "pitch": -0.6210622191429138,
                        "yaw": -170.7814178466797
                    }
                },
                "velocity": {
                    "x": -13.558974266052246,
                    "y": -2.200518846511841,
                    "z": -0.1300814002752304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.478013038635254,
                "transform": {
                    "location": {
                        "x": 3011.272705078125,
                        "y": 4268.712890625,
                        "z": 361.42578125
                    },
                    "rotation": {
                        "roll": 0.0024725976400077343,
                        "pitch": -0.34994471073150635,
                        "yaw": -170.80078125
                    }
                },
                "velocity": {
                    "x": -15.278203010559082,
                    "y": -2.474691867828369,
                    "z": -0.14589044451713562
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.090907096862793,
                "transform": {
                    "location": {
                        "x": 2970.687744140625,
                        "y": 4268.9296875,
                        "z": 361.0537109375
                    },
                    "rotation": {
                        "roll": 0.0006757805240340531,
                        "pitch": 0.49663668870925903,
                        "yaw": 9.252132415771484
                    }
                },
                "velocity": {
                    "x": 7.98560905456543,
                    "y": 1.2992385625839233,
                    "z": 0.06937423348426819
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.801199913024902,
                "transform": {
                    "location": {
                        "x": 2970.637939453125,
                        "y": 4265.62744140625,
                        "z": 361.0882873535156
                    },
                    "rotation": {
                        "roll": 0.0017259524902328849,
                        "pitch": 0.4744180738925934,
                        "yaw": 9.276594161987305
                    }
                },
                "velocity": {
                    "x": 7.698869228363037,
                    "y": 1.2575486898422241,
                    "z": 0.06861173361539841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.002848625183105,
                "transform": {
                    "location": {
                        "x": 3010.85302734375,
                        "y": 4275.43310546875,
                        "z": 361.4653015136719
                    },
                    "rotation": {
                        "roll": -6.104089698055759e-05,
                        "pitch": 0.5444275140762329,
                        "yaw": 9.191744804382324
                    }
                },
                "velocity": {
                    "x": 7.899735450744629,
                    "y": 1.2782949209213257,
                    "z": 0.0756772980093956
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050211906433105,
                "transform": {
                    "location": {
                        "x": 3011.990478515625,
                        "y": 4272.3232421875,
                        "z": 361.4361267089844
                    },
                    "rotation": {
                        "roll": -0.0005188013310544193,
                        "pitch": 0.5487715005874634,
                        "yaw": 9.190844535827637
                    }
                },
                "velocity": {
                    "x": 7.946376323699951,
                    "y": 1.2865480184555054,
                    "z": 0.07622858136892319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.943094253540039,
                "transform": {
                    "location": {
                        "x": 2975.4541015625,
                        "y": 4262.91748046875,
                        "z": 361.08447265625
                    },
                    "rotation": {
                        "roll": 0.0010528640123084188,
                        "pitch": -0.5064106583595276,
                        "yaw": -170.82237243652344
                    }
                },
                "velocity": {
                    "x": -12.776824951171875,
                    "y": -2.064755916595459,
                    "z": -0.11504529416561127
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.417415618896484,
                "transform": {
                    "location": {
                        "x": 2953.003662109375,
                        "y": 4259.2841796875,
                        "z": 360.8915100097656
                    },
                    "rotation": {
                        "roll": 0.0008122969884425402,
                        "pitch": -0.44769155979156494,
                        "yaw": -170.81912231445312
                    }
                },
                "velocity": {
                    "x": -13.244953155517578,
                    "y": -2.1418259143829346,
                    "z": -0.10408995300531387
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13406839966773987,
        "expert_target_speed": 10.0,
        "target_point": [
            50.32665763175764,
            0.6661820219341035
        ],
        "target_point_next": [
            101.32515164922704,
            1.065523086190499
        ]
    },
    "140": {
        "acceleration": [
            -0.727081298828125,
            -0.025386810302734375,
            0.0018864870071411133
        ],
        "angular_velocity": [
            0.11310652643442154,
            -0.30137303471565247,
            -0.2957150638103485
        ],
        "forward_vector": [
            -0.9885544776916504,
            -0.15073302388191223,
            -0.0062951622530817986
        ],
        "right_vector": [
            0.150739848613739,
            -0.9885732531547546,
            -0.0006226017721928656
        ],
        "location": [
            2986.12841796875,
            4261.76416015625,
            361.1800231933594
        ],
        "rotation": [
            0.03567316383123398,
            -0.36068859696388245,
            -171.33041381835938
        ],
        "velocity": [
            -16.557790756225586,
            -2.5263609886169434,
            -0.1544836014509201
        ],
        "speed": 16.749415947183206,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.54302978515625,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.608405590057373,
                "transform": {
                    "location": {
                        "x": 2930.954833984375,
                        "y": 4262.4326171875,
                        "z": 360.7383117675781
                    },
                    "rotation": {
                        "roll": 0.004644922912120819,
                        "pitch": 0.41907307505607605,
                        "yaw": 9.880084991455078
                    }
                },
                "velocity": {
                    "x": 6.510435581207275,
                    "y": 1.132655382156372,
                    "z": 0.04838615283370018
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.49685001373291,
                "transform": {
                    "location": {
                        "x": 2931.393798828125,
                        "y": 4259.21875,
                        "z": 360.74224853515625
                    },
                    "rotation": {
                        "roll": 0.0022930027917027473,
                        "pitch": 0.3919845223426819,
                        "yaw": 9.842065811157227
                    }
                },
                "velocity": {
                    "x": 6.402605056762695,
                    "y": 1.1016782522201538,
                    "z": 0.04486922174692154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.651589870452881,
                "transform": {
                    "location": {
                        "x": 3030.97900390625,
                        "y": 4268.64501953125,
                        "z": 361.60443115234375
                    },
                    "rotation": {
                        "roll": 0.005518513731658459,
                        "pitch": -0.6968978047370911,
                        "yaw": -170.49388122558594
                    }
                },
                "velocity": {
                    "x": -7.545414447784424,
                    "y": -1.2687684297561646,
                    "z": -0.061441171914339066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.86882209777832,
                "transform": {
                    "location": {
                        "x": 3027.9755859375,
                        "y": 4271.43603515625,
                        "z": 361.5852966308594
                    },
                    "rotation": {
                        "roll": 0.007218633312731981,
                        "pitch": -0.3581819236278534,
                        "yaw": -170.52255249023438
                    }
                },
                "velocity": {
                    "x": -9.735257148742676,
                    "y": -1.6154725551605225,
                    "z": -0.0931328684091568
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.486271858215332,
                "transform": {
                    "location": {
                        "x": 3011.033447265625,
                        "y": 4265.3818359375,
                        "z": 361.4219970703125
                    },
                    "rotation": {
                        "roll": -0.0011901888065040112,
                        "pitch": -0.6146828532218933,
                        "yaw": -170.79515075683594
                    }
                },
                "velocity": {
                    "x": -14.299433708190918,
                    "y": -2.3151817321777344,
                    "z": -0.13497298955917358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.849958419799805,
                "transform": {
                    "location": {
                        "x": 3007.37060546875,
                        "y": 4268.08154296875,
                        "z": 361.388671875
                    },
                    "rotation": {
                        "roll": 0.0035032210871577263,
                        "pitch": -0.42851921916007996,
                        "yaw": -170.81146240234375
                    }
                },
                "velocity": {
                    "x": -15.646066665649414,
                    "y": -2.529832124710083,
                    "z": -0.14739076793193817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.991872310638428,
                "transform": {
                    "location": {
                        "x": 2972.664306640625,
                        "y": 4269.25146484375,
                        "z": 361.0711669921875
                    },
                    "rotation": {
                        "roll": 0.0007130245212465525,
                        "pitch": 0.49734702706336975,
                        "yaw": 9.227760314941406
                    }
                },
                "velocity": {
                    "x": 7.888360977172852,
                    "y": 1.2802528142929077,
                    "z": 0.06885114312171936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.187439918518066,
                "transform": {
                    "location": {
                        "x": 2972.6181640625,
                        "y": 4265.94970703125,
                        "z": 361.1051940917969
                    },
                    "rotation": {
                        "roll": 0.0017905320273712277,
                        "pitch": 0.5259723663330078,
                        "yaw": 9.240839958190918
                    }
                },
                "velocity": {
                    "x": 8.081180572509766,
                    "y": 1.3129409551620483,
                    "z": 0.06986230611801147
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042427062988281,
                "transform": {
                    "location": {
                        "x": 3012.832763671875,
                        "y": 4275.75341796875,
                        "z": 361.48431396484375
                    },
                    "rotation": {
                        "roll": -0.00042724647209979594,
                        "pitch": 0.5472347140312195,
                        "yaw": 9.191742897033691
                    }
                },
                "velocity": {
                    "x": 7.93880558013916,
                    "y": 1.2846043109893799,
                    "z": 0.07609043270349503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040618896484375,
                "transform": {
                    "location": {
                        "x": 3013.975830078125,
                        "y": 4272.64453125,
                        "z": 361.4552001953125
                    },
                    "rotation": {
                        "roll": -0.0006713869515806437,
                        "pitch": 0.5483412146568298,
                        "yaw": 9.202210426330566
                    }
                },
                "velocity": {
                    "x": 7.936649799346924,
                    "y": 1.2865941524505615,
                    "z": 0.07624254375696182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.950358390808105,
                "transform": {
                    "location": {
                        "x": 2972.2587890625,
                        "y": 4262.40185546875,
                        "z": 361.0560607910156
                    },
                    "rotation": {
                        "roll": 0.0016493420116603374,
                        "pitch": -0.4944988489151001,
                        "yaw": -170.82289123535156
                    }
                },
                "velocity": {
                    "x": -12.783926963806152,
                    "y": -2.066531181335449,
                    "z": -0.11149933934211731
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.417337417602539,
                "transform": {
                    "location": {
                        "x": 2949.6923828125,
                        "y": 4258.74853515625,
                        "z": 360.8656311035156
                    },
                    "rotation": {
                        "roll": 0.0005001093959435821,
                        "pitch": -0.44155803322792053,
                        "yaw": -170.80453491210938
                    }
                },
                "velocity": {
                    "x": -13.24472427368164,
                    "y": -2.142801523208618,
                    "z": -0.10303348302841187
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1560041606426239,
        "expert_target_speed": 10.0,
        "target_point": [
            46.16791429439871,
            0.7273620512484724
        ],
        "target_point_next": [
            97.1658558990996,
            1.1919235853664905
        ]
    },
    "145": {
        "acceleration": [
            -0.34351348876953125,
            0.03455638885498047,
            -0.0183144211769104
        ],
        "angular_velocity": [
            0.01916482299566269,
            -0.2217082381248474,
            -0.2995122969150543
        ],
        "forward_vector": [
            -0.9887420535087585,
            -0.1494465321302414,
            -0.007408312056213617
        ],
        "right_vector": [
            0.14945539832115173,
            -0.9887682199478149,
            -0.0006554725114256144
        ],
        "location": [
            2981.97265625,
            4261.1328125,
            361.1418762207031
        ],
        "rotation": [
            0.03755684196949005,
            -0.42446890473365784,
            -171.4049072265625
        ],
        "velocity": [
            -16.676414489746094,
            -2.522517442703247,
            -0.15431110560894012
        ],
        "speed": 16.86611675764625,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.341915130615234,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.8812432289123535,
                "transform": {
                    "location": {
                        "x": 2932.610595703125,
                        "y": 4262.71826171875,
                        "z": 360.7507629394531
                    },
                    "rotation": {
                        "roll": 0.005329032428562641,
                        "pitch": 0.42173683643341064,
                        "yaw": 9.783804893493652
                    }
                },
                "velocity": {
                    "x": 6.783390522003174,
                    "y": 1.155232310295105,
                    "z": 0.050575874745845795
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6497673988342285,
                "transform": {
                    "location": {
                        "x": 2932.83935546875,
                        "y": 4259.46484375,
                        "z": 360.7527160644531
                    },
                    "rotation": {
                        "roll": 0.0075522009283304214,
                        "pitch": 0.32265812158584595,
                        "yaw": 9.691343307495117
                    }
                },
                "velocity": {
                    "x": 5.570038318634033,
                    "y": 0.944936215877533,
                    "z": 0.04047016054391861
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.733189582824707,
                "transform": {
                    "location": {
                        "x": 3028.788330078125,
                        "y": 4268.2802734375,
                        "z": 361.5821838378906
                    },
                    "rotation": {
                        "roll": 0.01959964446723461,
                        "pitch": -0.0051294718869030476,
                        "yaw": -170.56312561035156
                    }
                },
                "velocity": {
                    "x": -9.602133750915527,
                    "y": -1.5893179178237915,
                    "z": -0.08985026180744171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.29295825958252,
                "transform": {
                    "location": {
                        "x": 3025.346435546875,
                        "y": 4271.001953125,
                        "z": 361.5599670410156
                    },
                    "rotation": {
                        "roll": 0.006321883760392666,
                        "pitch": -0.328429639339447,
                        "yaw": -170.6417694091797
                    }
                },
                "velocity": {
                    "x": -11.142354011535645,
                    "y": -1.834946870803833,
                    "z": -0.10871020704507828
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.21319580078125,
                "transform": {
                    "location": {
                        "x": 3007.364501953125,
                        "y": 4264.78759765625,
                        "z": 361.3872985839844
                    },
                    "rotation": {
                        "roll": -0.0008239741437137127,
                        "pitch": -0.6049771308898926,
                        "yaw": -170.80909729003906
                    }
                },
                "velocity": {
                    "x": -15.017217636108398,
                    "y": -2.429979085922241,
                    "z": -0.14037905633449554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.931870460510254,
                "transform": {
                    "location": {
                        "x": 3003.445556640625,
                        "y": 4267.4462890625,
                        "z": 361.3516845703125
                    },
                    "rotation": {
                        "roll": 0.0012242136290296912,
                        "pitch": -0.4945603013038635,
                        "yaw": -170.81234741210938
                    }
                },
                "velocity": {
                    "x": -15.72680950164795,
                    "y": -2.543708086013794,
                    "z": -0.14672555029392242
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.121624946594238,
                "transform": {
                    "location": {
                        "x": 2974.65576171875,
                        "y": 4269.57470703125,
                        "z": 361.0887145996094
                    },
                    "rotation": {
                        "roll": -0.0007019031909294426,
                        "pitch": 0.5109937191009521,
                        "yaw": 9.215088844299316
                    }
                },
                "velocity": {
                    "x": 8.01663875579834,
                    "y": 1.2996472120285034,
                    "z": 0.07221631705760956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9898247718811035,
                "transform": {
                    "location": {
                        "x": 2974.61962890625,
                        "y": 4266.27490234375,
                        "z": 361.1231994628906
                    },
                    "rotation": {
                        "roll": 0.0014646637719124556,
                        "pitch": 0.4971284568309784,
                        "yaw": 9.225847244262695
                    }
                },
                "velocity": {
                    "x": 7.886157512664795,
                    "y": 1.2808610200881958,
                    "z": 0.07221338152885437
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99948263168335,
                "transform": {
                    "location": {
                        "x": 3014.81298828125,
                        "y": 4276.07373046875,
                        "z": 361.50335693359375
                    },
                    "rotation": {
                        "roll": 0.0012646362883970141,
                        "pitch": 0.5462853312492371,
                        "yaw": 9.191865921020508
                    }
                },
                "velocity": {
                    "x": 7.896399974822998,
                    "y": 1.2778319120407104,
                    "z": 0.07573986053466797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.995874404907227,
                "transform": {
                    "location": {
                        "x": 3015.958740234375,
                        "y": 4272.96630859375,
                        "z": 361.4742431640625
                    },
                    "rotation": {
                        "roll": 0.00027928315103054047,
                        "pitch": 0.541818380355835,
                        "yaw": 9.202876091003418
                    }
                },
                "velocity": {
                    "x": 7.892711639404297,
                    "y": 1.278058648109436,
                    "z": 0.07533793896436691
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.94215202331543,
                "transform": {
                    "location": {
                        "x": 2969.063720703125,
                        "y": 4261.884765625,
                        "z": 361.02838134765625
                    },
                    "rotation": {
                        "roll": 0.0011556181125342846,
                        "pitch": -0.48980650305747986,
                        "yaw": -170.8083038330078
                    }
                },
                "velocity": {
                    "x": -12.775566101074219,
                    "y": -2.0668747425079346,
                    "z": -0.11063161492347717
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.417038917541504,
                "transform": {
                    "location": {
                        "x": 2946.381103515625,
                        "y": 4258.212890625,
                        "z": 360.8401184082031
                    },
                    "rotation": {
                        "roll": 0.0012007828336209059,
                        "pitch": -0.4287104606628418,
                        "yaw": -170.8087921142578
                    }
                },
                "velocity": {
                    "x": -13.244573593139648,
                    "y": -2.1420271396636963,
                    "z": -0.09949377179145813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18050576746463776,
        "expert_target_speed": 10.0,
        "target_point": [
            41.96348499936039,
            0.784218702965048
        ],
        "target_point_next": [
            92.96077940317895,
            1.3150942304862507
        ]
    },
    "150": {
        "acceleration": [
            0.40386199951171875,
            0.14940261840820312,
            0.028239786624908447
        ],
        "angular_velocity": [
            -0.015994630753993988,
            -0.25105082988739014,
            -0.30161646008491516
        ],
        "forward_vector": [
            -0.9889295101165771,
            -0.14814895391464233,
            -0.008388301357626915
        ],
        "right_vector": [
            0.14815962314605713,
            -0.9889631867408752,
            -0.0006616374012082815
        ],
        "location": [
            2977.8046875,
            4260.50537109375,
            361.10406494140625
        ],
        "rotation": [
            0.03791036829352379,
            -0.4806199073791504,
            -171.4800262451172
        ],
        "velocity": [
            -16.64268684387207,
            -2.49515700340271,
            -0.14939844608306885
        ],
        "speed": 16.82869079443859,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.13001251220703,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.855487823486328,
                "transform": {
                    "location": {
                        "x": 2934.409423828125,
                        "y": 4263.0244140625,
                        "z": 360.7640686035156
                    },
                    "rotation": {
                        "roll": 0.004723736550658941,
                        "pitch": 0.4426986873149872,
                        "yaw": 9.649247169494629
                    }
                },
                "velocity": {
                    "x": 7.745298862457275,
                    "y": 1.3098642826080322,
                    "z": 0.05735368654131889
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.9015350341796875,
                "transform": {
                    "location": {
                        "x": 2934.274658203125,
                        "y": 4259.70751953125,
                        "z": 360.7634582519531
                    },
                    "rotation": {
                        "roll": 0.006044733338057995,
                        "pitch": 0.42524755001068115,
                        "yaw": 9.61330509185791
                    }
                },
                "velocity": {
                    "x": 5.818986892700195,
                    "y": 0.9826547503471375,
                    "z": 0.04353136941790581
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.581174850463867,
                "transform": {
                    "location": {
                        "x": 3026.2587890625,
                        "y": 4267.86181640625,
                        "z": 361.5583801269531
                    },
                    "rotation": {
                        "roll": 0.01206391490995884,
                        "pitch": -0.09643543511629105,
                        "yaw": -170.62925720214844
                    }
                },
                "velocity": {
                    "x": -10.439685821533203,
                    "y": -1.7216428518295288,
                    "z": -0.10083978623151779
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.19872760772705,
                "transform": {
                    "location": {
                        "x": 3022.49365234375,
                        "y": 4270.53466796875,
                        "z": 361.5322265625
                    },
                    "rotation": {
                        "roll": 0.005942489020526409,
                        "pitch": -0.36593419313430786,
                        "yaw": -170.7239990234375
                    }
                },
                "velocity": {
                    "x": -12.038716316223145,
                    "y": -1.9658232927322388,
                    "z": -0.11753388494253159
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.912059783935547,
                "transform": {
                    "location": {
                        "x": 3003.519287109375,
                        "y": 4264.16552734375,
                        "z": 361.3510437011719
                    },
                    "rotation": {
                        "roll": -0.0009460437577217817,
                        "pitch": -0.6042736172676086,
                        "yaw": -170.81051635742188
                    }
                },
                "velocity": {
                    "x": -15.707161903381348,
                    "y": -2.541074275970459,
                    "z": -0.14711737632751465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.15407657623291,
                "transform": {
                    "location": {
                        "x": 2999.63427734375,
                        "y": 4266.830078125,
                        "z": 361.3160095214844
                    },
                    "rotation": {
                        "roll": 0.00023405499814543873,
                        "pitch": -0.6337254047393799,
                        "yaw": -170.80596923828125
                    }
                },
                "velocity": {
                    "x": -14.9588041305542,
                    "y": -2.4208014011383057,
                    "z": -0.1411839872598648
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.025040626525879,
                "transform": {
                    "location": {
                        "x": 2976.6484375,
                        "y": 4269.89794921875,
                        "z": 361.1067199707031
                    },
                    "rotation": {
                        "roll": -0.0003356930101290345,
                        "pitch": 0.5086988210678101,
                        "yaw": 9.207615852355957
                    }
                },
                "velocity": {
                    "x": 7.9213175773620605,
                    "y": 1.2840641736984253,
                    "z": 0.07197366654872894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.963537216186523,
                "transform": {
                    "location": {
                        "x": 2976.576416015625,
                        "y": 4266.59228515625,
                        "z": 361.14068603515625
                    },
                    "rotation": {
                        "roll": -0.0008850111626088619,
                        "pitch": 0.5081455707550049,
                        "yaw": 9.218055725097656
                    }
                },
                "velocity": {
                    "x": 7.860611438751221,
                    "y": 1.274159550666809,
                    "z": 0.07235540449619293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.755282878875732,
                "transform": {
                    "location": {
                        "x": 3016.762939453125,
                        "y": 4276.3896484375,
                        "z": 361.5222473144531
                    },
                    "rotation": {
                        "roll": 0.00047532832832075655,
                        "pitch": 0.5243057608604431,
                        "yaw": 9.19191837310791
                    }
                },
                "velocity": {
                    "x": 7.655339241027832,
                    "y": 1.2387958765029907,
                    "z": 0.07470668852329254
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.627806663513184,
                "transform": {
                    "location": {
                        "x": 3017.8876953125,
                        "y": 4273.27880859375,
                        "z": 361.4927673339844
                    },
                    "rotation": {
                        "roll": 2.1832101992913522e-05,
                        "pitch": 0.5035009980201721,
                        "yaw": 9.19776725769043
                    }
                },
                "velocity": {
                    "x": 7.529518127441406,
                    "y": 1.2184216976165771,
                    "z": 0.07242517173290253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.949583053588867,
                "transform": {
                    "location": {
                        "x": 2965.86865234375,
                        "y": 4261.3671875,
                        "z": 361.00091552734375
                    },
                    "rotation": {
                        "roll": 0.0003244186518713832,
                        "pitch": -0.4798275828361511,
                        "yaw": -170.80018615722656
                    }
                },
                "velocity": {
                    "x": -12.782590866088867,
                    "y": -2.070066452026367,
                    "z": -0.10914286971092224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416971206665039,
                "transform": {
                    "location": {
                        "x": 2943.0703125,
                        "y": 4257.67822265625,
                        "z": 360.8150939941406
                    },
                    "rotation": {
                        "roll": 0.00043796130921691656,
                        "pitch": -0.427214652299881,
                        "yaw": -170.8041229248047
                    }
                },
                "velocity": {
                    "x": -13.24431324005127,
                    "y": -2.1431884765625,
                    "z": -0.10006300359964371
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.21623718738555908,
        "expert_target_speed": 0,
        "target_point": [
            37.74749070975527,
            0.8362100334136429
        ],
        "target_point_next": [
            88.74404541529692,
            1.4339336318779647
        ]
    },
    "155": {
        "acceleration": [
            0.8541107177734375,
            0.21857738494873047,
            -0.004408657550811768
        ],
        "angular_velocity": [
            0.022952109575271606,
            -0.15475142002105713,
            -0.30101892352104187
        ],
        "forward_vector": [
            -0.9891155362129211,
            -0.14684733748435974,
            -0.009292586706578732
        ],
        "right_vector": [
            0.14685992896556854,
            -0.9891570210456848,
            -0.0006846572505310178
        ],
        "location": [
            2973.661865234375,
            4259.88671875,
            361.0675048828125
        ],
        "rotation": [
            0.03922966867685318,
            -0.5324336886405945,
            -171.55535888671875
        ],
        "velocity": [
            -16.48865509033203,
            -2.449906587600708,
            -0.14615395665168762
        ],
        "speed": 16.669666732598518,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.94512939453125,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2895.135498046875,
                        "y": 4253.31396484375,
                        "z": 360.86920166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.389901340007782,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2895.765625,
                        "y": 4256.70849609375,
                        "z": 360.4933166503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.385448455810547,
                "transform": {
                    "location": {
                        "x": 2936.46142578125,
                        "y": 4263.37060546875,
                        "z": 360.7794189453125
                    },
                    "rotation": {
                        "roll": 0.004517180845141411,
                        "pitch": 0.43667444586753845,
                        "yaw": 9.548384666442871
                    }
                },
                "velocity": {
                    "x": 8.270899772644043,
                    "y": 1.3799471855163574,
                    "z": 0.06086180731654167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.229659080505371,
                "transform": {
                    "location": {
                        "x": 2936.08056640625,
                        "y": 4260.01220703125,
                        "z": 360.77728271484375
                    },
                    "rotation": {
                        "roll": 0.005321288947016001,
                        "pitch": 0.6804165840148926,
                        "yaw": 9.566486358642578
                    }
                },
                "velocity": {
                    "x": 8.115105628967285,
                    "y": 1.3669875860214233,
                    "z": 0.06080562621355057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.174905776977539,
                "transform": {
                    "location": {
                        "x": 3023.418701171875,
                        "y": 4267.39501953125,
                        "z": 361.53033447265625
                    },
                    "rotation": {
                        "roll": 0.01831643283367157,
                        "pitch": 0.047729358077049255,
                        "yaw": -170.68389892578125
                    }
                },
                "velocity": {
                    "x": -12.01453971862793,
                    "y": -1.96615731716156,
                    "z": -0.11573883891105652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.279335021972656,
                "transform": {
                    "location": {
                        "x": 3019.338623046875,
                        "y": 4270.02099609375,
                        "z": 361.5016784667969
                    },
                    "rotation": {
                        "roll": 0.0062180315144360065,
                        "pitch": -0.368679940700531,
                        "yaw": -170.76499938964844
                    }
                },
                "velocity": {
                    "x": -13.106634140014648,
                    "y": -2.130951166152954,
                    "z": -0.12617391347885132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.065567016601562,
                "transform": {
                    "location": {
                        "x": 2999.55419921875,
                        "y": 4263.5244140625,
                        "z": 361.3135986328125
                    },
                    "rotation": {
                        "roll": -0.0005493155331350863,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.81326293945312
                    }
                },
                "velocity": {
                    "x": -15.859184265136719,
                    "y": -2.5626606941223145,
                    "z": -0.14646370708942413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.89970588684082,
                "transform": {
                    "location": {
                        "x": 2996.042236328125,
                        "y": 4266.24853515625,
                        "z": 361.28240966796875
                    },
                    "rotation": {
                        "roll": 0.0010589569574221969,
                        "pitch": -0.750671923160553,
                        "yaw": -170.80633544921875
                    }
                },
                "velocity": {
                    "x": -13.72075080871582,
                    "y": -2.21948504447937,
                    "z": -0.12924331426620483
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076186180114746,
                "transform": {
                    "location": {
                        "x": 2978.633056640625,
                        "y": 4270.21923828125,
                        "z": 361.124755859375
                    },
                    "rotation": {
                        "roll": 0.00033287183032371104,
                        "pitch": 0.5166149735450745,
                        "yaw": 9.20186710357666
                    }
                },
                "velocity": {
                    "x": 7.9719672203063965,
                    "y": 1.2912232875823975,
                    "z": 0.0724802166223526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.108203887939453,
                "transform": {
                    "location": {
                        "x": 2978.568115234375,
                        "y": 4266.91552734375,
                        "z": 361.15863037109375
                    },
                    "rotation": {
                        "roll": -0.00021362578263506293,
                        "pitch": 0.5247156023979187,
                        "yaw": 9.20995044708252
                    }
                },
                "velocity": {
                    "x": 8.003352165222168,
                    "y": 1.2976837158203125,
                    "z": 0.07312221080064774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.362315654754639,
                "transform": {
                    "location": {
                        "x": 3018.621826171875,
                        "y": 4276.68994140625,
                        "z": 361.5403137207031
                    },
                    "rotation": {
                        "roll": 0.0004414387221913785,
                        "pitch": 0.5141493082046509,
                        "yaw": 9.187418937683105
                    }
                },
                "velocity": {
                    "x": 7.267742156982422,
                    "y": 1.1741304397583008,
                    "z": 0.07096002250909805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.373521327972412,
                "transform": {
                    "location": {
                        "x": 3019.733154296875,
                        "y": 4273.5771484375,
                        "z": 361.510498046875
                    },
                    "rotation": {
                        "roll": -0.0007629435276612639,
                        "pitch": 0.5088558793067932,
                        "yaw": 9.191009521484375
                    }
                },
                "velocity": {
                    "x": 7.278503894805908,
                    "y": 1.1777513027191162,
                    "z": 0.07142291963100433
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.941368103027344,
                "transform": {
                    "location": {
                        "x": 2962.674072265625,
                        "y": 4260.849609375,
                        "z": 360.9740905761719
                    },
                    "rotation": {
                        "roll": -6.104019848862663e-05,
                        "pitch": -0.47067514061927795,
                        "yaw": -170.7996826171875
                    }
                },
                "velocity": {
                    "x": -12.774544715881348,
                    "y": -2.068457841873169,
                    "z": -0.10716572403907776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.41689395904541,
                "transform": {
                    "location": {
                        "x": 2939.75927734375,
                        "y": 4257.142578125,
                        "z": 360.7903747558594
                    },
                    "rotation": {
                        "roll": -0.00018310602172277868,
                        "pitch": -0.42071232199668884,
                        "yaw": -170.8098602294922
                    }
                },
                "velocity": {
                    "x": -13.243850708007812,
                    "y": -2.145610809326172,
                    "z": -0.09898579120635986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2625632882118225,
        "expert_target_speed": 0,
        "target_point": [
            33.557600256425154,
            0.8822946802234046
        ],
        "target_point_next": [
            84.55332478570725,
            1.5470841724979998
        ]
    },
    "160": {
        "acceleration": [
            2.3279953002929688,
            0.30673980712890625,
            0.046681761741638184
        ],
        "angular_velocity": [
            -0.054132770746946335,
            -0.4441872835159302,
            -0.00784851424396038
        ],
        "forward_vector": [
            -0.9892607927322388,
            -0.1457664966583252,
            -0.010730775073170662
        ],
        "right_vector": [
            0.1457810401916504,
            -0.9893167018890381,
            -0.0005829658475704491
        ],
        "location": [
            2969.5869140625,
            4259.283203125,
            361.03228759765625
        ],
        "rotation": [
            0.033403411507606506,
            -0.6148399114608765,
            -171.6178436279297
        ],
        "velocity": [
            -16.06909942626953,
            -2.373788595199585,
            -0.1381891667842865
        ],
        "speed": 16.243485730163812,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.8306770324707,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.151611328125,
                        "y": 4253.6396484375,
                        "z": 360.6002197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3948327302932739,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.82177734375,
                        "y": 4257.04052734375,
                        "z": 360.50701904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3948327302932739,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.870841026306152,
                "transform": {
                    "location": {
                        "x": 2938.45751953125,
                        "y": 4263.70263671875,
                        "z": 360.7944030761719
                    },
                    "rotation": {
                        "roll": 0.00407871650531888,
                        "pitch": 0.4145583212375641,
                        "yaw": 9.407382011413574
                    }
                },
                "velocity": {
                    "x": 7.765644550323486,
                    "y": 1.281139612197876,
                    "z": 0.05986115336418152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.081216812133789,
                "transform": {
                    "location": {
                        "x": 2938.119384765625,
                        "y": 4260.3515625,
                        "z": 360.7922058105469
                    },
                    "rotation": {
                        "roll": 0.008583146147429943,
                        "pitch": 0.4788167178630829,
                        "yaw": 9.557684898376465
                    }
                },
                "velocity": {
                    "x": 7.971909046173096,
                    "y": 1.3233163356781006,
                    "z": 0.059681281447410583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.23440170288086,
                "transform": {
                    "location": {
                        "x": 3020.276611328125,
                        "y": 4266.8818359375,
                        "z": 361.50018310546875
                    },
                    "rotation": {
                        "roll": 0.014540156349539757,
                        "pitch": -0.016016792505979538,
                        "yaw": -170.74395751953125
                    }
                },
                "velocity": {
                    "x": -13.061552047729492,
                    "y": -2.1282613277435303,
                    "z": -0.1255446970462799
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.447304725646973,
                "transform": {
                    "location": {
                        "x": 3016.006103515625,
                        "y": 4269.4794921875,
                        "z": 361.469482421875
                    },
                    "rotation": {
                        "roll": 0.003347288118675351,
                        "pitch": -0.4829080104827881,
                        "yaw": -170.78846740722656
                    }
                },
                "velocity": {
                    "x": -13.273147583007812,
                    "y": -2.1534838676452637,
                    "z": -0.12675173580646515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.717044830322266,
                "transform": {
                    "location": {
                        "x": 2995.630859375,
                        "y": 4262.8896484375,
                        "z": 361.2765808105469
                    },
                    "rotation": {
                        "roll": 0.0008179698488675058,
                        "pitch": -0.5023808479309082,
                        "yaw": -170.811279296875
                    }
                },
                "velocity": {
                    "x": -15.51469612121582,
                    "y": -2.50966477394104,
                    "z": -0.1459673047065735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.69409465789795,
                "transform": {
                    "location": {
                        "x": 2992.6767578125,
                        "y": 4265.7041015625,
                        "z": 361.2510070800781
                    },
                    "rotation": {
                        "roll": 0.0009958652080968022,
                        "pitch": -0.6206046342849731,
                        "yaw": -170.81614685058594
                    }
                },
                "velocity": {
                    "x": -13.517931938171387,
                    "y": -2.1857805252075195,
                    "z": -0.12695413827896118
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.054238319396973,
                "transform": {
                    "location": {
                        "x": 2980.625244140625,
                        "y": 4270.5419921875,
                        "z": 361.1429748535156
                    },
                    "rotation": {
                        "roll": -0.0005798366037197411,
                        "pitch": 0.5242170095443726,
                        "yaw": 9.194380760192871
                    }
                },
                "velocity": {
                    "x": 7.950444221496582,
                    "y": 1.2868107557296753,
                    "z": 0.07282253354787827
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.956321716308594,
                "transform": {
                    "location": {
                        "x": 2980.548095703125,
                        "y": 4267.236328125,
                        "z": 361.17681884765625
                    },
                    "rotation": {
                        "roll": -0.0004272510705050081,
                        "pitch": 0.5175507068634033,
                        "yaw": 9.20499324798584
                    }
                },
                "velocity": {
                    "x": 7.853768348693848,
                    "y": 1.2712788581848145,
                    "z": 0.0722951665520668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.235414028167725,
                "transform": {
                    "location": {
                        "x": 3020.422119140625,
                        "y": 4276.98095703125,
                        "z": 361.5576171875
                    },
                    "rotation": {
                        "roll": 0.0003870160726364702,
                        "pitch": 0.5293806195259094,
                        "yaw": 9.186986923217773
                    }
                },
                "velocity": {
                    "x": 7.142504692077637,
                    "y": 1.1537362337112427,
                    "z": 0.0688311979174614
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.144663333892822,
                "transform": {
                    "location": {
                        "x": 3021.525146484375,
                        "y": 4273.8671875,
                        "z": 361.52789306640625
                    },
                    "rotation": {
                        "roll": 0.0007640615804120898,
                        "pitch": 0.5157817006111145,
                        "yaw": 9.192950248718262
                    }
                },
                "velocity": {
                    "x": 7.052558898925781,
                    "y": 1.141511082649231,
                    "z": 0.06765308231115341
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.79052734375,
                        "y": 4247.15869140625,
                        "z": 360.5718994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.948907852172852,
                "transform": {
                    "location": {
                        "x": 2959.479736328125,
                        "y": 4260.33154296875,
                        "z": 360.9476013183594
                    },
                    "rotation": {
                        "roll": -0.0006713884649798274,
                        "pitch": -0.46633797883987427,
                        "yaw": -170.803466796875
                    }
                },
                "velocity": {
                    "x": -12.782039642333984,
                    "y": -2.069423198699951,
                    "z": -0.10558775067329407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416882514953613,
                "transform": {
                    "location": {
                        "x": 2936.448486328125,
                        "y": 4256.60546875,
                        "z": 360.7656555175781
                    },
                    "rotation": {
                        "roll": 0.00022011280816514045,
                        "pitch": -0.42218080163002014,
                        "yaw": -170.79183959960938
                    }
                },
                "velocity": {
                    "x": -13.243819236755371,
                    "y": -2.145704746246338,
                    "z": -0.09969308972358704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.31620973348617554,
        "expert_target_speed": 0,
        "target_point": [
            29.437219479065956,
            0.9158317736890327
        ],
        "target_point_next": [
            80.4321890581037,
            1.6362087364516018
        ]
    },
    "165": {
        "acceleration": [
            3.2323074340820312,
            0.3024721145629883,
            0.017703771591186523
        ],
        "angular_velocity": [
            -0.12472837418317795,
            -0.47073400020599365,
            0.838349461555481
        ],
        "forward_vector": [
            -0.9888772964477539,
            -0.14818741381168365,
            -0.012739193625748158
        ],
        "right_vector": [
            0.14819665253162384,
            -0.988957941532135,
            0.00022102439834270626
        ],
        "location": [
            2965.6611328125,
            4258.69970703125,
            360.9992370605469
        ],
        "rotation": [
            -0.012664792127907276,
            -0.7299217581748962,
            -171.47740173339844
        ],
        "velocity": [
            -15.338884353637695,
            -2.3007333278656006,
            -0.13010619580745697
        ],
        "speed": 15.510472173993376,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.86759567260742,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.995502948760986,
                "transform": {
                    "location": {
                        "x": 2899.184326171875,
                        "y": 4253.96923828125,
                        "z": 360.5516357421875
                    },
                    "rotation": {
                        "roll": -0.004394533112645149,
                        "pitch": 0.3873058557510376,
                        "yaw": 9.259275436401367
                    }
                },
                "velocity": {
                    "x": 7.882421016693115,
                    "y": 1.3132737874984741,
                    "z": -0.26612016558647156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.90347146987915,
                "transform": {
                    "location": {
                        "x": 2899.681884765625,
                        "y": 4257.345703125,
                        "z": 360.52337646484375
                    },
                    "rotation": {
                        "roll": -0.02990722469985485,
                        "pitch": 0.06136241555213928,
                        "yaw": 9.31692123413086
                    }
                },
                "velocity": {
                    "x": 6.804826736450195,
                    "y": 1.1613396406173706,
                    "z": 0.059517525136470795
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.120837211608887,
                "transform": {
                    "location": {
                        "x": 2940.41796875,
                        "y": 4264.025390625,
                        "z": 360.8090515136719
                    },
                    "rotation": {
                        "roll": 0.0014048231532797217,
                        "pitch": 0.4255344271659851,
                        "yaw": 9.334724426269531
                    }
                },
                "velocity": {
                    "x": 8.013384819030762,
                    "y": 1.315292477607727,
                    "z": 0.0605945847928524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9510416984558105,
                "transform": {
                    "location": {
                        "x": 2940.077392578125,
                        "y": 4260.67626953125,
                        "z": 360.80682373046875
                    },
                    "rotation": {
                        "roll": 0.004822390154004097,
                        "pitch": 0.4153437912464142,
                        "yaw": 9.566160202026367
                    }
                },
                "velocity": {
                    "x": 7.843737602233887,
                    "y": 1.300544261932373,
                    "z": 0.058571621775627136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.23060131072998,
                "transform": {
                    "location": {
                        "x": 3016.88330078125,
                        "y": 4266.330078125,
                        "z": 361.4677734375
                    },
                    "rotation": {
                        "roll": 0.010985532775521278,
                        "pitch": -0.06476385146379471,
                        "yaw": -170.77464294433594
                    }
                },
                "velocity": {
                    "x": -14.045796394348145,
                    "y": -2.2819929122924805,
                    "z": -0.13461825251579285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.306197166442871,
                "transform": {
                    "location": {
                        "x": 3012.726806640625,
                        "y": 4268.94873046875,
                        "z": 361.4378967285156
                    },
                    "rotation": {
                        "roll": 0.003201856976374984,
                        "pitch": -0.5467566251754761,
                        "yaw": -170.81637573242188
                    }
                },
                "velocity": {
                    "x": -13.134889602661133,
                    "y": -2.124476194381714,
                    "z": -0.1270507425069809
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.184000968933105,
                "transform": {
                    "location": {
                        "x": 2991.815185546875,
                        "y": 4262.2724609375,
                        "z": 361.24072265625
                    },
                    "rotation": {
                        "roll": 0.0005014995695091784,
                        "pitch": -0.480073481798172,
                        "yaw": -170.8092041015625
                    }
                },
                "velocity": {
                    "x": -14.988070487976074,
                    "y": -2.4273681640625,
                    "z": -0.13971813023090363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.416563034057617,
                "transform": {
                    "location": {
                        "x": 2989.208251953125,
                        "y": 4265.14306640625,
                        "z": 361.2186279296875
                    },
                    "rotation": {
                        "roll": 0.00016854182467795908,
                        "pitch": -0.4374667704105377,
                        "yaw": -170.81166076660156
                    }
                },
                "velocity": {
                    "x": -14.230987548828125,
                    "y": -2.3019092082977295,
                    "z": -0.13225817680358887
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.068187713623047,
                "transform": {
                    "location": {
                        "x": 2982.614013671875,
                        "y": 4270.86328125,
                        "z": 361.1614074707031
                    },
                    "rotation": {
                        "roll": -0.00030517339473590255,
                        "pitch": 0.5228031277656555,
                        "yaw": 9.191765785217285
                    }
                },
                "velocity": {
                    "x": 7.964393615722656,
                    "y": 1.2879456281661987,
                    "z": 0.07264106720685959
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.05511474609375,
                "transform": {
                    "location": {
                        "x": 2982.521728515625,
                        "y": 4267.55615234375,
                        "z": 361.1949462890625
                    },
                    "rotation": {
                        "roll": 0.0005090641789138317,
                        "pitch": 0.5286019444465637,
                        "yaw": 9.19924259185791
                    }
                },
                "velocity": {
                    "x": 7.951194763183594,
                    "y": 1.2876261472702026,
                    "z": 0.07349999994039536
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.920957565307617,
                "transform": {
                    "location": {
                        "x": 3022.169677734375,
                        "y": 4277.263671875,
                        "z": 361.5745544433594
                    },
                    "rotation": {
                        "roll": 0.0012586115626618266,
                        "pitch": 0.5234383344650269,
                        "yaw": 9.184677124023438
                    }
                },
                "velocity": {
                    "x": 6.83188533782959,
                    "y": 1.1047900915145874,
                    "z": 0.06660087406635284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.888523578643799,
                "transform": {
                    "location": {
                        "x": 3023.255126953125,
                        "y": 4274.14697265625,
                        "z": 361.5445861816406
                    },
                    "rotation": {
                        "roll": 0.0007452239515259862,
                        "pitch": 0.5118407011032104,
                        "yaw": 9.188905715942383
                    }
                },
                "velocity": {
                    "x": 6.799797058105469,
                    "y": 1.1000152826309204,
                    "z": 0.06694845110177994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.13858598470687866,
                "transform": {
                    "location": {
                        "x": 2897.753662109375,
                        "y": 4247.15283203125,
                        "z": 360.56103515625
                    },
                    "rotation": {
                        "roll": -0.0018310608575120568,
                        "pitch": -0.3941975235939026,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0007223409484140575,
                    "y": 0.0006027888157404959,
                    "z": -0.13858279585838318
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.940818786621094,
                "transform": {
                    "location": {
                        "x": 2956.284912109375,
                        "y": 4259.814453125,
                        "z": 360.921630859375
                    },
                    "rotation": {
                        "roll": -0.0012512179091572762,
                        "pitch": -0.45461738109588623,
                        "yaw": -170.8083038330078
                    }
                },
                "velocity": {
                    "x": -12.774348258972168,
                    "y": -2.0664312839508057,
                    "z": -0.10336218774318695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416854858398438,
                "transform": {
                    "location": {
                        "x": 2933.13720703125,
                        "y": 4256.0693359375,
                        "z": 360.7410583496094
                    },
                    "rotation": {
                        "roll": -6.103645864641294e-05,
                        "pitch": -0.4208694100379944,
                        "yaw": -170.807373046875
                    }
                },
                "velocity": {
                    "x": -13.243999481201172,
                    "y": -2.1444525718688965,
                    "z": -0.09899425506591797
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3554990589618683,
        "expert_target_speed": 10.0,
        "target_point": [
            25.470471128914074,
            0.8484262829687323
        ],
        "target_point_next": [
            76.46705314263961,
            1.443815443794115
        ]
    },
    "170": {
        "acceleration": [
            3.5587501525878906,
            0.3140592575073242,
            0.04063531756401062
        ],
        "angular_velocity": [
            -0.04479358717799187,
            -0.25046679377555847,
            0.8845058679580688
        ],
        "forward_vector": [
            -0.9882823824882507,
            -0.1519865095615387,
            -0.014071118086576462
        ],
        "right_vector": [
            0.15198911726474762,
            -0.9883817434310913,
            0.0008899401291273534
        ],
        "location": [
            2961.93896484375,
            4258.134765625,
            360.9684753417969
        ],
        "rotation": [
            -0.0509948693215847,
            -0.8062422871589661,
            -171.25706481933594
        ],
        "velocity": [
            -14.46882438659668,
            -2.2233214378356934,
            -0.1205049455165863
        ],
        "speed": 14.638648754106868,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.10904884338379,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.156646728515625,
                "transform": {
                    "location": {
                        "x": 2901.17529296875,
                        "y": 4254.3056640625,
                        "z": 360.52154541015625
                    },
                    "rotation": {
                        "roll": -0.00228882092051208,
                        "pitch": 0.39366474747657776,
                        "yaw": 9.714417457580566
                    }
                },
                "velocity": {
                    "x": 8.035492897033691,
                    "y": 1.4006168842315674,
                    "z": -0.003089647274464369
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.64402961730957,
                "transform": {
                    "location": {
                        "x": 2901.351806640625,
                        "y": 4257.63232421875,
                        "z": 360.5357360839844
                    },
                    "rotation": {
                        "roll": -0.025482170283794403,
                        "pitch": 0.28770121932029724,
                        "yaw": 9.758142471313477
                    }
                },
                "velocity": {
                    "x": 6.5459208488464355,
                    "y": 1.136427402496338,
                    "z": 0.050872381776571274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093306541442871,
                "transform": {
                    "location": {
                        "x": 2942.43115234375,
                        "y": 4264.35498046875,
                        "z": 360.82415771484375
                    },
                    "rotation": {
                        "roll": 0.00047799648018553853,
                        "pitch": 0.428505539894104,
                        "yaw": 9.278218269348145
                    }
                },
                "velocity": {
                    "x": 7.987573623657227,
                    "y": 1.3025686740875244,
                    "z": 0.0599961094558239
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.107186317443848,
                "transform": {
                    "location": {
                        "x": 2942.065673828125,
                        "y": 4261.00537109375,
                        "z": 360.82171630859375
                    },
                    "rotation": {
                        "roll": 0.006275389809161425,
                        "pitch": 0.45001381635665894,
                        "yaw": 9.54065990447998
                    }
                },
                "velocity": {
                    "x": 7.998771667480469,
                    "y": 1.3200269937515259,
                    "z": 0.06040697917342186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.619970321655273,
                "transform": {
                    "location": {
                        "x": 3013.2890625,
                        "y": 4265.74658203125,
                        "z": 361.43377685546875
                    },
                    "rotation": {
                        "roll": 0.007539060898125172,
                        "pitch": -0.2230193316936493,
                        "yaw": -170.78836059570312
                    }
                },
                "velocity": {
                    "x": -14.430708885192871,
                    "y": -2.3407232761383057,
                    "z": -0.138477623462677
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.026679992675781,
                "transform": {
                    "location": {
                        "x": 3009.358154296875,
                        "y": 4268.40380859375,
                        "z": 361.4058532714844
                    },
                    "rotation": {
                        "roll": 0.0007224247674457729,
                        "pitch": -0.4497610926628113,
                        "yaw": -170.813232421875
                    }
                },
                "velocity": {
                    "x": -13.846220016479492,
                    "y": -2.2388916015625,
                    "z": -0.13161073625087738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.411906242370605,
                "transform": {
                    "location": {
                        "x": 2988.163330078125,
                        "y": 4261.68115234375,
                        "z": 361.20648193359375
                    },
                    "rotation": {
                        "roll": 0.0011104913428425789,
                        "pitch": -0.45672789216041565,
                        "yaw": -170.80621337890625
                    }
                },
                "velocity": {
                    "x": -14.226140022277832,
                    "y": -2.302639961242676,
                    "z": -0.13349348306655884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.210002899169922,
                "transform": {
                    "location": {
                        "x": 2985.543701171875,
                        "y": 4264.55029296875,
                        "z": 361.18450927734375
                    },
                    "rotation": {
                        "roll": -0.0012207059189677238,
                        "pitch": -0.3773201107978821,
                        "yaw": -170.8060760498047
                    }
                },
                "velocity": {
                    "x": -15.014009475708008,
                    "y": -2.4298644065856934,
                    "z": -0.13947445154190063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048925399780273,
                "transform": {
                    "location": {
                        "x": 2984.6025390625,
                        "y": 4271.1845703125,
                        "z": 361.1798095703125
                    },
                    "rotation": {
                        "roll": -6.103738996898755e-05,
                        "pitch": 0.5269900560379028,
                        "yaw": 9.18928337097168
                    }
                },
                "velocity": {
                    "x": 7.945301532745361,
                    "y": 1.2853513956069946,
                    "z": 0.07247045636177063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016396522521973,
                "transform": {
                    "location": {
                        "x": 2984.508056640625,
                        "y": 4267.87744140625,
                        "z": 361.21343994140625
                    },
                    "rotation": {
                        "roll": 0.00020301667973399162,
                        "pitch": 0.5292235016822815,
                        "yaw": 9.198708534240723
                    }
                },
                "velocity": {
                    "x": 7.912969589233398,
                    "y": 1.281473994255066,
                    "z": 0.073175810277462
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.704637050628662,
                "transform": {
                    "location": {
                        "x": 3023.847412109375,
                        "y": 4277.53515625,
                        "z": 361.5908508300781
                    },
                    "rotation": {
                        "roll": -6.103734631324187e-05,
                        "pitch": 0.5229260921478271,
                        "yaw": 9.193305969238281
                    }
                },
                "velocity": {
                    "x": 6.618197917938232,
                    "y": 1.071138620376587,
                    "z": 0.06536470353603363
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.647769451141357,
                "transform": {
                    "location": {
                        "x": 3024.923583984375,
                        "y": 4274.4169921875,
                        "z": 361.56085205078125
                    },
                    "rotation": {
                        "roll": 3.5319649214216042e-06,
                        "pitch": 0.5166764855384827,
                        "yaw": 9.184805870056152
                    }
                },
                "velocity": {
                    "x": 6.562241077423096,
                    "y": 1.0610332489013672,
                    "z": 0.0635894387960434
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.18057207763195038,
                "transform": {
                    "location": {
                        "x": 2897.75439453125,
                        "y": 4247.15283203125,
                        "z": 360.5055236816406
                    },
                    "rotation": {
                        "roll": -0.001525876927189529,
                        "pitch": -0.39807024598121643,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": 0.0012330480385571718,
                    "y": 0.00010062727960757911,
                    "z": -0.18056784570217133
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.94832992553711,
                "transform": {
                    "location": {
                        "x": 2953.09033203125,
                        "y": 4259.2978515625,
                        "z": 360.8960876464844
                    },
                    "rotation": {
                        "roll": 0.0012482850579544902,
                        "pitch": -0.4473568797111511,
                        "yaw": -170.81817626953125
                    }
                },
                "velocity": {
                    "x": -12.781758308410645,
                    "y": -2.067777156829834,
                    "z": -0.10094083845615387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416790962219238,
                "transform": {
                    "location": {
                        "x": 2929.826171875,
                        "y": 4255.5341796875,
                        "z": 360.7165222167969
                    },
                    "rotation": {
                        "roll": -0.0014038080116733909,
                        "pitch": -0.4185812771320343,
                        "yaw": -170.80044555664062
                    }
                },
                "velocity": {
                    "x": -13.24401569366455,
                    "y": -2.1439571380615234,
                    "z": -0.0988241583108902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.377456933259964,
        "expert_target_speed": 10.0,
        "target_point": [
            21.70875590450785,
            0.7578777988264584
        ],
        "target_point_next": [
            72.70725030279539,
            1.1571702271287538
        ]
    },
    "175": {
        "acceleration": [
            3.4154510498046875,
            0.3176307678222656,
            0.025543421506881714
        ],
        "angular_velocity": [
            -0.025356963276863098,
            -0.0076612625271081924,
            0.8456459641456604
        ],
        "forward_vector": [
            -0.9876931309700012,
            -0.15572340786457062,
            -0.014579255133867264
        ],
        "right_vector": [
            0.15572208166122437,
            -0.987800121307373,
            0.0012334446655586362
        ],
        "location": [
            2958.435791015625,
            4257.58984375,
            360.93988037109375
        ],
        "rotation": [
            -0.0706787034869194,
            -0.8353593945503235,
            -171.040283203125
        ],
        "velocity": [
            -13.597613334655762,
            -2.1443710327148438,
            -0.11081007868051529
        ],
        "speed": 13.765660736948107,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.570396423339844,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.925755023956299,
                "transform": {
                    "location": {
                        "x": 2903.155029296875,
                        "y": 4254.64697265625,
                        "z": 360.5315856933594
                    },
                    "rotation": {
                        "roll": 0.00570965651422739,
                        "pitch": 0.39438876509666443,
                        "yaw": 9.937353134155273
                    }
                },
                "velocity": {
                    "x": 7.810924053192139,
                    "y": 1.3430525064468384,
                    "z": 0.057146117091178894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.856743335723877,
                "transform": {
                    "location": {
                        "x": 2903.017333984375,
                        "y": 4257.91845703125,
                        "z": 360.54632568359375
                    },
                    "rotation": {
                        "roll": 0.018681127578020096,
                        "pitch": 0.43749406933784485,
                        "yaw": 9.789652824401855
                    }
                },
                "velocity": {
                    "x": 6.758174896240234,
                    "y": 1.1575332880020142,
                    "z": 0.04603887349367142
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.008283615112305,
                "transform": {
                    "location": {
                        "x": 2944.41015625,
                        "y": 4264.67724609375,
                        "z": 360.83917236328125
                    },
                    "rotation": {
                        "roll": -0.0005187953356653452,
                        "pitch": 0.4280342757701874,
                        "yaw": 9.246028900146484
                    }
                },
                "velocity": {
                    "x": 7.904131889343262,
                    "y": 1.285953164100647,
                    "z": 0.06021348014473915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039815902709961,
                "transform": {
                    "location": {
                        "x": 2944.057861328125,
                        "y": 4261.33251953125,
                        "z": 360.836669921875
                    },
                    "rotation": {
                        "roll": 0.004764850717037916,
                        "pitch": 0.42388153076171875,
                        "yaw": 9.471199989318848
                    }
                },
                "velocity": {
                    "x": 7.933664798736572,
                    "y": 1.3007665872573853,
                    "z": 0.06009703502058983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.72391128540039,
                "transform": {
                    "location": {
                        "x": 3009.79248046875,
                        "y": 4265.1796875,
                        "z": 361.4020690917969
                    },
                    "rotation": {
                        "roll": 0.006858374923467636,
                        "pitch": -0.6575012803077698,
                        "yaw": -170.80593872070312
                    }
                },
                "velocity": {
                    "x": -13.546890258789062,
                    "y": -2.19338321685791,
                    "z": -0.1288008838891983
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.607629776000977,
                "transform": {
                    "location": {
                        "x": 3005.800048828125,
                        "y": 4267.828125,
                        "z": 361.3723449707031
                    },
                    "rotation": {
                        "roll": -0.00030517642153427005,
                        "pitch": -0.4417424499988556,
                        "yaw": -170.8026885986328
                    }
                },
                "velocity": {
                    "x": -14.419365882873535,
                    "y": -2.3338088989257812,
                    "z": -0.1344914436340332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.551309585571289,
                "transform": {
                    "location": {
                        "x": 2984.717041015625,
                        "y": 4261.12353515625,
                        "z": 361.1742248535156
                    },
                    "rotation": {
                        "roll": 0.0002529580087866634,
                        "pitch": -0.4435388147830963,
                        "yaw": -170.8102569580078
                    }
                },
                "velocity": {
                    "x": -13.376827239990234,
                    "y": -2.164050340652466,
                    "z": -0.12389723211526871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.286940574645996,
                "transform": {
                    "location": {
                        "x": 2981.880615234375,
                        "y": 4263.95751953125,
                        "z": 361.1505126953125
                    },
                    "rotation": {
                        "roll": 0.00033104713656939566,
                        "pitch": -0.6262121796607971,
                        "yaw": -170.8098602294922
                    }
                },
                "velocity": {
                    "x": -14.10293960571289,
                    "y": -2.281855344772339,
                    "z": -0.13004952669143677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076991081237793,
                "transform": {
                    "location": {
                        "x": 2986.5927734375,
                        "y": 4271.50634765625,
                        "z": 361.19830322265625
                    },
                    "rotation": {
                        "roll": 0.0007235239609144628,
                        "pitch": 0.5292098522186279,
                        "yaw": 9.189056396484375
                    }
                },
                "velocity": {
                    "x": 7.9730095863342285,
                    "y": 1.2897907495498657,
                    "z": 0.07310066372156143
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.022339820861816,
                "transform": {
                    "location": {
                        "x": 2986.48486328125,
                        "y": 4268.197265625,
                        "z": 361.2317810058594
                    },
                    "rotation": {
                        "roll": 0.0008743515936657786,
                        "pitch": 0.5297836065292358,
                        "yaw": 9.198657989501953
                    }
                },
                "velocity": {
                    "x": 7.91884183883667,
                    "y": 1.2824112176895142,
                    "z": 0.07279597967863083
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.467763423919678,
                "transform": {
                    "location": {
                        "x": 3025.471923828125,
                        "y": 4277.7978515625,
                        "z": 361.6065673828125
                    },
                    "rotation": {
                        "roll": -0.0017395042814314365,
                        "pitch": 0.5284995436668396,
                        "yaw": 9.193625450134277
                    }
                },
                "velocity": {
                    "x": 6.384402751922607,
                    "y": 1.033157229423523,
                    "z": 0.06287002563476562
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.442610263824463,
                "transform": {
                    "location": {
                        "x": 3026.5380859375,
                        "y": 4274.67822265625,
                        "z": 361.5765686035156
                    },
                    "rotation": {
                        "roll": -0.00015258822531905025,
                        "pitch": 0.5170657634735107,
                        "yaw": 9.186334609985352
                    }
                },
                "velocity": {
                    "x": 6.359691619873047,
                    "y": 1.028486728668213,
                    "z": 0.06135722994804382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.013074278831481934,
                "transform": {
                    "location": {
                        "x": 2897.75439453125,
                        "y": 4247.15283203125,
                        "z": 360.48834228515625
                    },
                    "rotation": {
                        "roll": 0.001364759518764913,
                        "pitch": -0.39495566487312317,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -8.254125714302063e-05,
                    "y": -6.695650426991051e-06,
                    "z": 0.013074017129838467
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.940281867980957,
                "transform": {
                    "location": {
                        "x": 2949.895751953125,
                        "y": 4258.78125,
                        "z": 360.87103271484375
                    },
                    "rotation": {
                        "roll": 0.0014146780595183372,
                        "pitch": -0.4409774839878082,
                        "yaw": -170.81820678710938
                    }
                },
                "velocity": {
                    "x": -12.774025917053223,
                    "y": -2.0652503967285156,
                    "z": -0.09947916865348816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416706085205078,
                "transform": {
                    "location": {
                        "x": 2926.51513671875,
                        "y": 4254.9990234375,
                        "z": 360.6920471191406
                    },
                    "rotation": {
                        "roll": 0.0001659299450693652,
                        "pitch": -0.4159243404865265,
                        "yaw": -170.81466674804688
                    }
                },
                "velocity": {
                    "x": -13.244144439697266,
                    "y": -2.1427035331726074,
                    "z": -0.09736280143260956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.371606707572937,
        "expert_target_speed": 0,
        "target_point": [
            18.166173886973546,
            0.6830353092107115
        ],
        "target_point_next": [
            69.16581412676162,
            0.8893378725813097
        ]
    },
    "180": {
        "acceleration": [
            3.2153701782226562,
            0.32265186309814453,
            0.021493136882781982
        ],
        "angular_velocity": [
            -0.025277115404605865,
            0.04308610409498215,
            0.7995887398719788
        ],
        "forward_vector": [
            -0.9871305823326111,
            -0.1592608243227005,
            -0.014463040046393871
        ],
        "right_vector": [
            0.159258633852005,
            -0.9872360825538635,
            0.0013101374497637153
        ],
        "location": [
            2955.14453125,
            4257.06494140625,
            360.9132995605469
        ],
        "rotation": [
            -0.07507321983575821,
            -0.8287000060081482,
            -170.8350372314453
        ],
        "velocity": [
            -12.773664474487305,
            -2.0643296241760254,
            -0.10241133719682693
        ],
        "speed": 12.939395693154676,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.244747161865234,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.088983535766602,
                "transform": {
                    "location": {
                        "x": 2905.12841796875,
                        "y": 4254.98583984375,
                        "z": 360.54608154296875
                    },
                    "rotation": {
                        "roll": 0.005238227546215057,
                        "pitch": 0.3980429172515869,
                        "yaw": 9.816532135009766
                    }
                },
                "velocity": {
                    "x": 7.9732842445373535,
                    "y": 1.3619970083236694,
                    "z": 0.05790063738822937
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.343325138092041,
                "transform": {
                    "location": {
                        "x": 2904.45703125,
                        "y": 4258.1650390625,
                        "z": 360.5583190917969
                    },
                    "rotation": {
                        "roll": 0.0077021741308271885,
                        "pitch": 0.15432128310203552,
                        "yaw": 9.729209899902344
                    }
                },
                "velocity": {
                    "x": 5.267117977142334,
                    "y": 0.8984737396240234,
                    "z": 0.03654925152659416
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089716911315918,
                "transform": {
                    "location": {
                        "x": 2946.39794921875,
                        "y": 4265.0009765625,
                        "z": 360.8543395996094
                    },
                    "rotation": {
                        "roll": 0.000393314054235816,
                        "pitch": 0.432931512594223,
                        "yaw": 9.23215103149414
                    }
                },
                "velocity": {
                    "x": 7.984809875488281,
                    "y": 1.2971594333648682,
                    "z": 0.06087884679436684
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.016057968139648,
                "transform": {
                    "location": {
                        "x": 2946.033935546875,
                        "y": 4261.65625,
                        "z": 360.8517150878906
                    },
                    "rotation": {
                        "roll": 0.0037810285575687885,
                        "pitch": 0.4345775842666626,
                        "yaw": 9.456001281738281
                    }
                },
                "velocity": {
                    "x": 7.9106669425964355,
                    "y": 1.2942140102386475,
                    "z": 0.05958949029445648
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.793533325195312,
                "transform": {
                    "location": {
                        "x": 3006.530029296875,
                        "y": 4264.65185546875,
                        "z": 361.3720703125
                    },
                    "rotation": {
                        "roll": 0.0033485947642475367,
                        "pitch": -0.8572023510932922,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": -12.628714561462402,
                    "y": -2.0435264110565186,
                    "z": -0.11860761046409607
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.586187362670898,
                "transform": {
                    "location": {
                        "x": 3002.309326171875,
                        "y": 4267.26318359375,
                        "z": 361.33929443359375
                    },
                    "rotation": {
                        "roll": -0.0002441407705191523,
                        "pitch": -0.6325369477272034,
                        "yaw": -170.80625915527344
                    }
                },
                "velocity": {
                    "x": -13.410994529724121,
                    "y": -2.171131134033203,
                    "z": -0.12612442672252655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.738554000854492,
                "transform": {
                    "location": {
                        "x": 2981.478759765625,
                        "y": 4260.59912109375,
                        "z": 361.1443176269531
                    },
                    "rotation": {
                        "roll": 0.0010175748029723763,
                        "pitch": -0.4405471682548523,
                        "yaw": -170.8116455078125
                    }
                },
                "velocity": {
                    "x": -12.574572563171387,
                    "y": -2.0340633392333984,
                    "z": -0.11605239659547806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.15468978881836,
                "transform": {
                    "location": {
                        "x": 2978.513427734375,
                        "y": 4263.41259765625,
                        "z": 361.11968994140625
                    },
                    "rotation": {
                        "roll": 0.0012014127569273114,
                        "pitch": -0.7139527797698975,
                        "yaw": -170.81080627441406
                    }
                },
                "velocity": {
                    "x": -12.98532485961914,
                    "y": -2.1007888317108154,
                    "z": -0.11781724542379379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042081832885742,
                "transform": {
                    "location": {
                        "x": 2988.581298828125,
                        "y": 4271.82763671875,
                        "z": 361.21685791015625
                    },
                    "rotation": {
                        "roll": -0.00030517371487803757,
                        "pitch": 0.5293737649917603,
                        "yaw": 9.19176197052002
                    }
                },
                "velocity": {
                    "x": 7.93848180770874,
                    "y": 1.2846137285232544,
                    "z": 0.0732065960764885
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01944351196289,
                "transform": {
                    "location": {
                        "x": 2988.46484375,
                        "y": 4268.5185546875,
                        "z": 361.25030517578125
                    },
                    "rotation": {
                        "roll": -0.00033569097286090255,
                        "pitch": 0.5330688953399658,
                        "yaw": 9.198517799377441
                    }
                },
                "velocity": {
                    "x": 7.915998458862305,
                    "y": 1.2818702459335327,
                    "z": 0.07246339321136475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3027.099853515625,
                        "y": 4278.01513671875,
                        "z": 361.60662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3028.146728515625,
                        "y": 4274.88427734375,
                        "z": 361.59271240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.20511913299560547,
                "transform": {
                    "location": {
                        "x": 2897.735595703125,
                        "y": 4247.1494140625,
                        "z": 360.4965515136719
                    },
                    "rotation": {
                        "roll": -0.0009155279258266091,
                        "pitch": -0.3704147934913635,
                        "yaw": -170.79287719726562
                    }
                },
                "velocity": {
                    "x": -0.19978690147399902,
                    "y": -0.03528040647506714,
                    "z": 0.030238227918744087
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.947673797607422,
                "transform": {
                    "location": {
                        "x": 2946.701171875,
                        "y": 4258.26513671875,
                        "z": 360.846435546875
                    },
                    "rotation": {
                        "roll": 0.000661963305901736,
                        "pitch": -0.42916807532310486,
                        "yaw": -170.81832885742188
                    }
                },
                "velocity": {
                    "x": -12.78138256072998,
                    "y": -2.0660979747772217,
                    "z": -0.09875510632991791
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416656494140625,
                "transform": {
                    "location": {
                        "x": 2923.2041015625,
                        "y": 4254.4638671875,
                        "z": 360.6678771972656
                    },
                    "rotation": {
                        "roll": 0.0013897024327889085,
                        "pitch": -0.4115871787071228,
                        "yaw": -170.8054962158203
                    }
                },
                "velocity": {
                    "x": -13.244114875793457,
                    "y": -2.142662525177002,
                    "z": -0.09531087428331375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3437487781047821,
        "expert_target_speed": 10.0,
        "target_point": [
            14.83565578421807,
            0.6239823645542533
        ],
        "target_point_next": [
            65.835707817421,
            0.6476032463822143
        ]
    },
    "185": {
        "acceleration": [
            3.0295753479003906,
            0.32607078552246094,
            0.028679221868515015
        ],
        "angular_velocity": [
            -0.009588489308953285,
            0.08785353600978851,
            0.645645022392273
        ],
        "forward_vector": [
            -0.9865958094596863,
            -0.16258324682712555,
            -0.013975759968161583
        ],
        "right_vector": [
            0.1625819057226181,
            -0.9866942167282104,
            0.001240378594957292
        ],
        "location": [
            2952.052490234375,
            4256.56005859375,
            360.8887939453125
        ],
        "rotation": [
            -0.0710754245519638,
            -0.8007781505584717,
            -170.6422119140625
        ],
        "velocity": [
            -11.998689651489258,
            -1.983168601989746,
            -0.09444870054721832
        ],
        "speed": 12.161476516306454,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.11981201171875,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.859091758728027,
                "transform": {
                    "location": {
                        "x": 2907.092529296875,
                        "y": 4255.3212890625,
                        "z": 360.5600280761719
                    },
                    "rotation": {
                        "roll": 0.005511986091732979,
                        "pitch": 0.39895814657211304,
                        "yaw": 9.639374732971191
                    }
                },
                "velocity": {
                    "x": 7.74995756149292,
                    "y": 1.3040013313293457,
                    "z": 0.05529293045401573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.063321113586426,
                "transform": {
                    "location": {
                        "x": 2905.72607421875,
                        "y": 4258.3818359375,
                        "z": 360.5663146972656
                    },
                    "rotation": {
                        "roll": 0.0035127797164022923,
                        "pitch": 0.2678936719894409,
                        "yaw": 9.690814018249512
                    }
                },
                "velocity": {
                    "x": 4.991333961486816,
                    "y": 0.8499597907066345,
                    "z": 0.037090521305799484
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.066892623901367,
                "transform": {
                    "location": {
                        "x": 2948.393310546875,
                        "y": 4265.3251953125,
                        "z": 360.86962890625
                    },
                    "rotation": {
                        "roll": 0.0003370070771779865,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.220383644104004
                    }
                },
                "velocity": {
                    "x": 7.962676048278809,
                    "y": 1.291036605834961,
                    "z": 0.0613972470164299
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.09399700164795,
                "transform": {
                    "location": {
                        "x": 2948.025146484375,
                        "y": 4261.98095703125,
                        "z": 360.8670349121094
                    },
                    "rotation": {
                        "roll": 0.0033495945390313864,
                        "pitch": 0.44404423236846924,
                        "yaw": 9.412330627441406
                    }
                },
                "velocity": {
                    "x": 7.988321304321289,
                    "y": 1.302229642868042,
                    "z": 0.0609140582382679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.99199390411377,
                "transform": {
                    "location": {
                        "x": 3003.47802734375,
                        "y": 4264.158203125,
                        "z": 361.3433837890625
                    },
                    "rotation": {
                        "roll": 0.0017996106762439013,
                        "pitch": -0.888334333896637,
                        "yaw": -170.810546875
                    }
                },
                "velocity": {
                    "x": -11.837525367736816,
                    "y": -1.9153224229812622,
                    "z": -0.11154710501432419
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.652621269226074,
                "transform": {
                    "location": {
                        "x": 2999.0927734375,
                        "y": 4266.7421875,
                        "z": 361.3090515136719
                    },
                    "rotation": {
                        "roll": 0.0008942083804868162,
                        "pitch": -0.6674187183380127,
                        "yaw": -170.8094940185547
                    }
                },
                "velocity": {
                    "x": -12.489602088928223,
                    "y": -2.0211174488067627,
                    "z": -0.11731665581464767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.986124038696289,
                "transform": {
                    "location": {
                        "x": 2978.432861328125,
                        "y": 4260.10693359375,
                        "z": 361.11663818359375
                    },
                    "rotation": {
                        "roll": -0.0001525830739410594,
                        "pitch": -0.43459808826446533,
                        "yaw": -170.80377197265625
                    }
                },
                "velocity": {
                    "x": -11.831891059875488,
                    "y": -1.9136186838150024,
                    "z": -0.10751660913228989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.26156997680664,
                "transform": {
                    "location": {
                        "x": 2975.287353515625,
                        "y": 4262.890625,
                        "z": 361.0907287597656
                    },
                    "rotation": {
                        "roll": 0.00018456680118106306,
                        "pitch": -0.5430614948272705,
                        "yaw": -170.81080627441406
                    }
                },
                "velocity": {
                    "x": -13.090883255004883,
                    "y": -2.1176917552948,
                    "z": -0.11568760871887207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079977989196777,
                "transform": {
                    "location": {
                        "x": 2990.57080078125,
                        "y": 4272.1494140625,
                        "z": 361.23541259765625
                    },
                    "rotation": {
                        "roll": 0.0015995962312445045,
                        "pitch": 0.5285746455192566,
                        "yaw": 9.193970680236816
                    }
                },
                "velocity": {
                    "x": 7.97580623626709,
                    "y": 1.2911274433135986,
                    "z": 0.07449767738580704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.037308692932129,
                "transform": {
                    "location": {
                        "x": 2990.44677734375,
                        "y": 4268.83935546875,
                        "z": 361.2687683105469
                    },
                    "rotation": {
                        "roll": 0.0011877166107296944,
                        "pitch": 0.5303027033805847,
                        "yaw": 9.194581985473633
                    }
                },
                "velocity": {
                    "x": 7.933696269989014,
                    "y": 1.2842812538146973,
                    "z": 0.07361610233783722
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3028.670654296875,
                        "y": 4278.224609375,
                        "z": 361.6067810058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4451,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3029.69677734375,
                        "y": 4275.09326171875,
                        "z": 361.6081848144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2060819864273071,
                "transform": {
                    "location": {
                        "x": 2897.546142578125,
                        "y": 4247.11669921875,
                        "z": 360.4972839355469
                    },
                    "rotation": {
                        "roll": -0.010925289243459702,
                        "pitch": -0.20318445563316345,
                        "yaw": -170.6787567138672
                    }
                },
                "velocity": {
                    "x": -1.186980128288269,
                    "y": -0.21364247798919678,
                    "z": -0.008295421488583088
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.939659118652344,
                "transform": {
                    "location": {
                        "x": 2943.507080078125,
                        "y": 4257.7490234375,
                        "z": 360.822265625
                    },
                    "rotation": {
                        "roll": 0.0005206396454013884,
                        "pitch": -0.4272761344909668,
                        "yaw": -170.8142852783203
                    }
                },
                "velocity": {
                    "x": -12.773193359375,
                    "y": -2.0666792392730713,
                    "z": -0.09561590105295181
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416606903076172,
                "transform": {
                    "location": {
                        "x": 2919.89306640625,
                        "y": 4253.9287109375,
                        "z": 360.64385986328125
                    },
                    "rotation": {
                        "roll": 2.4213106371462345e-05,
                        "pitch": -0.4101869761943817,
                        "yaw": -170.8148193359375
                    }
                },
                "velocity": {
                    "x": -13.244075775146484,
                    "y": -2.142573595046997,
                    "z": -0.09576416015625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3194275498390198,
        "expert_target_speed": 10.0,
        "target_point": [
            11.704685210345973,
            0.5786544070853872
        ],
        "target_point_next": [
            62.70452797951264,
            0.4306582728710069
        ]
    },
    "190": {
        "acceleration": [
            2.7962875366210938,
            0.328521728515625,
            0.04101887345314026
        ],
        "angular_velocity": [
            0.04913470521569252,
            0.14439554512500763,
            2.1761019229888916
        ],
        "forward_vector": [
            -0.9860621690750122,
            -0.16582229733467102,
            -0.013574778102338314
        ],
        "right_vector": [
            0.16582252085208893,
            -0.9861549735069275,
            0.0011178916320204735
        ],
        "location": [
            2949.146728515625,
            4256.07568359375,
            360.8661193847656
        ],
        "rotation": [
            -0.0640563890337944,
            -0.7778013944625854,
            -170.4541015625
        ],
        "velocity": [
            -11.280314445495605,
            -1.9016884565353394,
            -0.0876791924238205
        ],
        "speed": 11.439489192047718,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.183372497558594,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02308177947998,
                "transform": {
                    "location": {
                        "x": 2909.05126953125,
                        "y": 4255.650390625,
                        "z": 360.573974609375
                    },
                    "rotation": {
                        "roll": 0.00411995267495513,
                        "pitch": 0.4019087851047516,
                        "yaw": 9.432500839233398
                    }
                },
                "velocity": {
                    "x": 7.914794921875,
                    "y": 1.3125239610671997,
                    "z": 0.05601750314235687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.718202114105225,
                "transform": {
                    "location": {
                        "x": 2907.179931640625,
                        "y": 4258.625,
                        "z": 360.5731201171875
                    },
                    "rotation": {
                        "roll": 0.016986029222607613,
                        "pitch": 0.7312263250350952,
                        "yaw": 9.61088752746582
                    }
                },
                "velocity": {
                    "x": 6.626911640167236,
                    "y": 1.1027754545211792,
                    "z": 0.04655826464295387
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035383224487305,
                "transform": {
                    "location": {
                        "x": 2950.377197265625,
                        "y": 4265.64697265625,
                        "z": 360.8851623535156
                    },
                    "rotation": {
                        "roll": 0.0002263134520035237,
                        "pitch": 0.44277381896972656,
                        "yaw": 9.208431243896484
                    }
                },
                "velocity": {
                    "x": 7.931640625,
                    "y": 1.285609245300293,
                    "z": 0.06060435250401497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.997910022735596,
                "transform": {
                    "location": {
                        "x": 2950.008056640625,
                        "y": 4262.30419921875,
                        "z": 360.88238525390625
                    },
                    "rotation": {
                        "roll": 0.0039231968112289906,
                        "pitch": 0.44274649024009705,
                        "yaw": 9.402851104736328
                    }
                },
                "velocity": {
                    "x": 7.8940653800964355,
                    "y": 1.2832026481628418,
                    "z": 0.06071142107248306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.281122207641602,
                "transform": {
                    "location": {
                        "x": 3000.61083984375,
                        "y": 4263.6943359375,
                        "z": 361.3164367675781
                    },
                    "rotation": {
                        "roll": 0.003610992804169655,
                        "pitch": -0.8643808960914612,
                        "yaw": -170.8105010986328
                    }
                },
                "velocity": {
                    "x": -11.136292457580566,
                    "y": -1.798836588859558,
                    "z": -0.10438559949398041
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.806427001953125,
                "transform": {
                    "location": {
                        "x": 2995.9755859375,
                        "y": 4266.23779296875,
                        "z": 361.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0015644374070689082,
                        "pitch": -0.5445846319198608,
                        "yaw": -170.8095703125
                    }
                },
                "velocity": {
                    "x": -12.64150333404541,
                    "y": -2.045274257659912,
                    "z": -0.11750110238790512
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.342737197875977,
                "transform": {
                    "location": {
                        "x": 2975.56396484375,
                        "y": 4259.642578125,
                        "z": 361.0909729003906
                    },
                    "rotation": {
                        "roll": 0.0007208729512058198,
                        "pitch": -0.43963193893432617,
                        "yaw": -170.81787109375
                    }
                },
                "velocity": {
                    "x": -11.19660472869873,
                    "y": -1.8121519088745117,
                    "z": -0.09916064143180847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.843182563781738,
                "transform": {
                    "location": {
                        "x": 2971.946533203125,
                        "y": 4262.35009765625,
                        "z": 361.0611877441406
                    },
                    "rotation": {
                        "roll": 0.0003856286930385977,
                        "pitch": -0.4095176160335541,
                        "yaw": -170.8054962158203
                    }
                },
                "velocity": {
                    "x": -13.664825439453125,
                    "y": -2.2118027210235596,
                    "z": -0.11902858316898346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043214797973633,
                "transform": {
                    "location": {
                        "x": 2992.559814453125,
                        "y": 4272.4716796875,
                        "z": 361.25396728515625
                    },
                    "rotation": {
                        "roll": -0.00012206480460008606,
                        "pitch": 0.528690755367279,
                        "yaw": 9.200943946838379
                    }
                },
                "velocity": {
                    "x": 7.939371109008789,
                    "y": 1.2860811948776245,
                    "z": 0.07531856000423431
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003375053405762,
                "transform": {
                    "location": {
                        "x": 2992.425048828125,
                        "y": 4269.1591796875,
                        "z": 361.2872619628906
                    },
                    "rotation": {
                        "roll": 0.0006342275883071125,
                        "pitch": 0.530336856842041,
                        "yaw": 9.18984317779541
                    }
                },
                "velocity": {
                    "x": 7.900367259979248,
                    "y": 1.277898907661438,
                    "z": 0.07197097688913345
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.32159686088562,
                "transform": {
                    "location": {
                        "x": 2897.128662109375,
                        "y": 4247.04345703125,
                        "z": 360.49261474609375
                    },
                    "rotation": {
                        "roll": -0.004364012740552425,
                        "pitch": -0.1345820426940918,
                        "yaw": -170.55377197265625
                    }
                },
                "velocity": {
                    "x": -2.2884716987609863,
                    "y": -0.3901844620704651,
                    "z": -0.02157815918326378
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.4794006347656
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.947273254394531,
                "transform": {
                    "location": {
                        "x": 2940.312744140625,
                        "y": 4257.23193359375,
                        "z": 360.7983093261719
                    },
                    "rotation": {
                        "roll": -0.0006103545310907066,
                        "pitch": -0.4205279052257538,
                        "yaw": -170.8041229248047
                    }
                },
                "velocity": {
                    "x": -12.78062629699707,
                    "y": -2.0684285163879395,
                    "z": -0.09524734318256378
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416552543640137,
                "transform": {
                    "location": {
                        "x": 2916.58203125,
                        "y": 4253.3916015625,
                        "z": 360.6199951171875
                    },
                    "rotation": {
                        "roll": 7.02379929862218e-06,
                        "pitch": -0.4075027108192444,
                        "yaw": -170.79449462890625
                    }
                },
                "velocity": {
                    "x": -13.24363899230957,
                    "y": -2.1449484825134277,
                    "z": -0.09551315754652023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3246347904205322,
        "expert_target_speed": 10.0,
        "target_point": [
            8.760668676928901,
            0.5444359039857312
        ],
        "target_point_next": [
            59.7597505775525,
            0.22898285050298917
        ]
    },
    "195": {
        "acceleration": [
            9.579010009765625,
            2.3981499671936035,
            0.08907437324523926
        ],
        "angular_velocity": [
            1.0963025093078613,
            -1.4517195224761963,
            -1.4384143352508545
        ],
        "forward_vector": [
            -0.9858876466751099,
            -0.16693738102912903,
            -0.012546805664896965
        ],
        "right_vector": [
            0.1669478565454483,
            -0.9859657287597656,
            0.00021516646665986627
        ],
        "location": [
            2946.394287109375,
            4255.6103515625,
            360.84478759765625
        ],
        "rotation": [
            -0.012329100631177425,
            -0.7188978791236877,
            -170.38943481445312
        ],
        "velocity": [
            -10.532608032226562,
            -1.7505673170089722,
            -0.07953454554080963
        ],
        "speed": 10.677093138673255,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.403721809387207,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2867.97021484375,
                        "y": 4252.21044921875,
                        "z": 360.5636291503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2871.08984375,
                        "y": 4249.42333984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.664434432983398,
                "transform": {
                    "location": {
                        "x": 2910.788330078125,
                        "y": 4255.93798828125,
                        "z": 360.5865173339844
                    },
                    "rotation": {
                        "roll": 0.0019101854413747787,
                        "pitch": 0.3731468617916107,
                        "yaw": 9.321442604064941
                    }
                },
                "velocity": {
                    "x": 6.5757737159729,
                    "y": 1.0823813676834106,
                    "z": 0.0483306385576725
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.099654197692871,
                "transform": {
                    "location": {
                        "x": 2908.987548828125,
                        "y": 4258.92626953125,
                        "z": 360.5857238769531
                    },
                    "rotation": {
                        "roll": 0.006838992703706026,
                        "pitch": 0.7462186217308044,
                        "yaw": 9.557159423828125
                    }
                },
                "velocity": {
                    "x": 7.99009370803833,
                    "y": 1.3265328407287598,
                    "z": 0.0557786263525486
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.092245101928711,
                "transform": {
                    "location": {
                        "x": 2952.369384765625,
                        "y": 4265.9697265625,
                        "z": 360.90081787109375
                    },
                    "rotation": {
                        "roll": 0.0002030376490438357,
                        "pitch": 0.4506763517856598,
                        "yaw": 9.197409629821777
                    }
                },
                "velocity": {
                    "x": 7.987980365753174,
                    "y": 1.293227195739746,
                    "z": 0.06446700543165207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087907791137695,
                "transform": {
                    "location": {
                        "x": 2951.99365234375,
                        "y": 4262.62646484375,
                        "z": 360.8979187011719
                    },
                    "rotation": {
                        "roll": 0.0031937791500240564,
                        "pitch": 0.45123642683029175,
                        "yaw": 9.371182441711426
                    }
                },
                "velocity": {
                    "x": 7.983076572418213,
                    "y": 1.296450138092041,
                    "z": 0.06287095695734024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.861366271972656,
                "transform": {
                    "location": {
                        "x": 2997.896240234375,
                        "y": 4263.25537109375,
                        "z": 361.2908020019531
                    },
                    "rotation": {
                        "roll": 0.0013751868391409516,
                        "pitch": -0.7909495234489441,
                        "yaw": -170.830322265625
                    }
                },
                "velocity": {
                    "x": -10.721833229064941,
                    "y": -1.7325156927108765,
                    "z": -0.09981142729520798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.588216781616211,
                "transform": {
                    "location": {
                        "x": 2992.712646484375,
                        "y": 4265.7099609375,
                        "z": 361.2497863769531
                    },
                    "rotation": {
                        "roll": 0.0016678354004397988,
                        "pitch": -0.4380541443824768,
                        "yaw": -170.807373046875
                    }
                },
                "velocity": {
                    "x": -13.41335391998291,
                    "y": -2.1693530082702637,
                    "z": -0.12444835156202316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.726588249206543,
                "transform": {
                    "location": {
                        "x": 2972.734619140625,
                        "y": 4259.1845703125,
                        "z": 361.06658935546875
                    },
                    "rotation": {
                        "roll": -0.001373286242596805,
                        "pitch": -0.5122299790382385,
                        "yaw": -170.79904174804688
                    }
                },
                "velocity": {
                    "x": -11.57557487487793,
                    "y": -1.8731964826583862,
                    "z": -0.10035191476345062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.32364273071289,
                "transform": {
                    "location": {
                        "x": 2968.46435546875,
                        "y": 4261.78662109375,
                        "z": 361.0309143066406
                    },
                    "rotation": {
                        "roll": 0.0010479931952431798,
                        "pitch": -0.4045999050140381,
                        "yaw": -170.8105010986328
                    }
                },
                "velocity": {
                    "x": -14.13926887512207,
                    "y": -2.2876241207122803,
                    "z": -0.12072260677814484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077143669128418,
                "transform": {
                    "location": {
                        "x": 2994.54931640625,
                        "y": 4272.79345703125,
                        "z": 361.2725830078125
                    },
                    "rotation": {
                        "roll": 0.0010929068084806204,
                        "pitch": 0.5289844870567322,
                        "yaw": 9.1973876953125
                    }
                },
                "velocity": {
                    "x": 7.97295618057251,
                    "y": 1.2909321784973145,
                    "z": 0.0756586417555809
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046031951904297,
                "transform": {
                    "location": {
                        "x": 2994.40576171875,
                        "y": 4269.47998046875,
                        "z": 361.3057861328125
                    },
                    "rotation": {
                        "roll": -0.0005187966162338853,
                        "pitch": 0.5325156450271606,
                        "yaw": 9.188693046569824
                    }
                },
                "velocity": {
                    "x": 7.942470073699951,
                    "y": 1.2847181558609009,
                    "z": 0.072797030210495
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.104146480560303,
                "transform": {
                    "location": {
                        "x": 2896.338134765625,
                        "y": 4246.9091796875,
                        "z": 360.4853820800781
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": -0.0023495848290622234,
                        "yaw": -170.4852752685547
                    }
                },
                "velocity": {
                    "x": -4.045496463775635,
                    "y": -0.6907950639724731,
                    "z": -0.027947062626481056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6959944367408752,
                "transform": {
                    "location": {
                        "x": 2878.6376953125,
                        "y": 4244.06005859375,
                        "z": 360.42974853515625
                    },
                    "rotation": {
                        "roll": 0.00018930542864836752,
                        "pitch": -0.39397895336151123,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": 0.004731799941509962,
                    "y": 0.0006501002353616059,
                    "z": -0.695978045463562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.93941879272461,
                "transform": {
                    "location": {
                        "x": 2937.118408203125,
                        "y": 4256.71435546875,
                        "z": 360.7745666503906
                    },
                    "rotation": {
                        "roll": 0.0009045276092365384,
                        "pitch": -0.4219622313976288,
                        "yaw": -170.8024444580078
                    }
                },
                "velocity": {
                    "x": -12.77298355102539,
                    "y": -2.066467523574829,
                    "z": -0.09565642476081848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.41646957397461,
                "transform": {
                    "location": {
                        "x": 2913.271240234375,
                        "y": 4252.8544921875,
                        "z": 360.59625244140625
                    },
                    "rotation": {
                        "roll": 0.0010065340902656317,
                        "pitch": -0.4039919972419739,
                        "yaw": -170.8018035888672
                    }
                },
                "velocity": {
                    "x": -13.243461608886719,
                    "y": -2.145493745803833,
                    "z": -0.09605813771486282
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.34562596678733826,
        "expert_target_speed": 10.0,
        "target_point": [
            56.968471887233186,
            0.16225404604203852
        ],
        "target_point_next": [
            98.96734422426785,
            -0.1448088165472825
        ]
    },
    "200": {
        "acceleration": [
            6.134128570556641,
            1.4014649391174316,
            0.05532786250114441
        ],
        "angular_velocity": [
            0.3095735013484955,
            -0.37551531195640564,
            -0.7947441339492798
        ],
        "forward_vector": [
            -0.9877014756202698,
            -0.15519021451473236,
            -0.019020242616534233
        ],
        "right_vector": [
            0.15525409579277039,
            -0.9878726601600647,
            -0.0019200671231374145
        ],
        "location": [
            2944.0380859375,
            4255.234375,
            360.8283996582031
        ],
        "rotation": [
            0.11003171652555466,
            -1.0898454189300537,
            -171.07054138183594
        ],
        "velocity": [
            -8.607436180114746,
            -1.3099534511566162,
            -0.06453874707221985
        ],
        "speed": 8.706545562905271,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.035017013549805,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2870.0205078125,
                        "y": 4252.54248046875,
                        "z": 360.404052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2873.140625,
                        "y": 4249.75439453125,
                        "z": 360.3465881347656
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.1007585525512695,
                "transform": {
                    "location": {
                        "x": 2912.467529296875,
                        "y": 4256.2138671875,
                        "z": 360.5983581542969
                    },
                    "rotation": {
                        "roll": 0.001693913247436285,
                        "pitch": 0.40884828567504883,
                        "yaw": 9.26987361907959
                    }
                },
                "velocity": {
                    "x": 7.007894515991211,
                    "y": 1.1435891389846802,
                    "z": 0.048866156488657
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.441524505615234,
                "transform": {
                    "location": {
                        "x": 2911.080322265625,
                        "y": 4259.2744140625,
                        "z": 360.6017761230469
                    },
                    "rotation": {
                        "roll": 0.006381209474056959,
                        "pitch": 0.5817750096321106,
                        "yaw": 9.430144309997559
                    }
                },
                "velocity": {
                    "x": 8.32865047454834,
                    "y": 1.3745161294937134,
                    "z": 0.060205649584531784
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035494804382324,
                "transform": {
                    "location": {
                        "x": 2954.358642578125,
                        "y": 4266.2919921875,
                        "z": 360.9167175292969
                    },
                    "rotation": {
                        "roll": -0.0002746570098679513,
                        "pitch": 0.456058531999588,
                        "yaw": 9.192001342773438
                    }
                },
                "velocity": {
                    "x": 7.932175159454346,
                    "y": 1.2828303575515747,
                    "z": 0.06426318734884262
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.010536193847656,
                "transform": {
                    "location": {
                        "x": 2953.97998046875,
                        "y": 4262.94921875,
                        "z": 360.9136962890625
                    },
                    "rotation": {
                        "roll": 0.0031061770860105753,
                        "pitch": 0.45665276050567627,
                        "yaw": 9.37966251373291
                    }
                },
                "velocity": {
                    "x": 7.906926155090332,
                    "y": 1.282633662223816,
                    "z": 0.06374137848615646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.478882789611816,
                "transform": {
                    "location": {
                        "x": 2995.14794921875,
                        "y": 4262.8115234375,
                        "z": 361.26409912109375
                    },
                    "rotation": {
                        "roll": 2.9596290914923884e-05,
                        "pitch": -0.4780585765838623,
                        "yaw": -170.81210327148438
                    }
                },
                "velocity": {
                    "x": -11.331327438354492,
                    "y": -1.8315703868865967,
                    "z": -0.10539906471967697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.20250415802002,
                "transform": {
                    "location": {
                        "x": 2989.28564453125,
                        "y": 4265.1552734375,
                        "z": 361.21783447265625
                    },
                    "rotation": {
                        "roll": -0.00012206973042339087,
                        "pitch": -0.4310600459575653,
                        "yaw": -170.8059539794922
                    }
                },
                "velocity": {
                    "x": -14.019512176513672,
                    "y": -2.2687418460845947,
                    "z": -0.13124996423721313
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.269065856933594,
                "transform": {
                    "location": {
                        "x": 2969.7509765625,
                        "y": 4258.701171875,
                        "z": 361.041015625
                    },
                    "rotation": {
                        "roll": 1.050922855938552e-05,
                        "pitch": -0.5454657077789307,
                        "yaw": -170.8101043701172
                    }
                },
                "velocity": {
                    "x": -12.110844612121582,
                    "y": -1.961318016052246,
                    "z": -0.10312199592590332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.282160758972168,
                "transform": {
                    "location": {
                        "x": 2964.794677734375,
                        "y": 4261.19287109375,
                        "z": 360.9996643066406
                    },
                    "rotation": {
                        "roll": 0.0011785298120230436,
                        "pitch": -0.3085264563560486,
                        "yaw": -170.81143188476562
                    }
                },
                "velocity": {
                    "x": -15.085532188415527,
                    "y": -2.4402809143066406,
                    "z": -0.12724652886390686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04488468170166,
                "transform": {
                    "location": {
                        "x": 2996.538330078125,
                        "y": 4273.1162109375,
                        "z": 361.2911682128906
                    },
                    "rotation": {
                        "roll": 0.0013952989829704165,
                        "pitch": 0.5288615226745605,
                        "yaw": 9.196964263916016
                    }
                },
                "velocity": {
                    "x": 7.941111087799072,
                    "y": 1.2857742309570312,
                    "z": 0.07558097690343857
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.002745628356934,
                "transform": {
                    "location": {
                        "x": 2996.38623046875,
                        "y": 4269.80029296875,
                        "z": 361.3242492675781
                    },
                    "rotation": {
                        "roll": 0.0004938790807500482,
                        "pitch": 0.5296742916107178,
                        "yaw": 9.188633918762207
                    }
                },
                "velocity": {
                    "x": 7.899718284606934,
                    "y": 1.2778992652893066,
                    "z": 0.07325412333011627
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.396298408508301,
                "transform": {
                    "location": {
                        "x": 2895.10498046875,
                        "y": 4246.69921875,
                        "z": 360.4773864746094
                    },
                    "rotation": {
                        "roll": -0.006927489303052425,
                        "pitch": -0.013182264752686024,
                        "yaw": -170.37649536132812
                    }
                },
                "velocity": {
                    "x": -5.318779945373535,
                    "y": -0.9107410311698914,
                    "z": -0.03418387472629547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.03809532895684242,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.3622131347656
                    },
                    "rotation": {
                        "roll": 0.0013844998320564628,
                        "pitch": -0.3931661546230316,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": 0.00022026557417120785,
                    "y": 0.0001721829321468249,
                    "z": -0.038094304502010345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.947108268737793,
                "transform": {
                    "location": {
                        "x": 2933.92431640625,
                        "y": 4256.19677734375,
                        "z": 360.750732421875
                    },
                    "rotation": {
                        "roll": 0.0002475009532645345,
                        "pitch": -0.42061668634414673,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -12.780441284179688,
                    "y": -2.0685408115386963,
                    "z": -0.09530285000801086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416421890258789,
                "transform": {
                    "location": {
                        "x": 2909.96044921875,
                        "y": 4252.31884765625,
                        "z": 360.57269287109375
                    },
                    "rotation": {
                        "roll": 0.000872978416737169,
                        "pitch": -0.40307676792144775,
                        "yaw": -170.799560546875
                    }
                },
                "velocity": {
                    "x": -13.24362564086914,
                    "y": -2.1442160606384277,
                    "z": -0.0953531339764595
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1171322762966156,
        "expert_target_speed": 9.129778487484412,
        "target_point": [
            54.57651504366856,
            0.8337481589517761
        ],
        "target_point_next": [
            96.57607004367456,
            1.0259589432129879
        ]
    },
    "205": {
        "acceleration": [
            3.5204315185546875,
            1.170269250869751,
            0.01363322138786316
        ],
        "angular_velocity": [
            0.09955251216888428,
            0.7578215003013611,
            -6.85378885269165
        ],
        "forward_vector": [
            -0.9898021817207336,
            -0.1412447988986969,
            -0.01848437264561653
        ],
        "right_vector": [
            0.14132040739059448,
            -0.9899598360061646,
            -0.00284335995092988
        ],
        "location": [
            2942.069580078125,
            4254.947265625,
            360.8136291503906
        ],
        "rotation": [
            0.16294057667255402,
            -1.0591368675231934,
            -171.87872314453125
        ],
        "velocity": [
            -7.34071159362793,
            -0.9905369877815247,
            -0.05540352687239647
        ],
        "speed": 7.407240392007457,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.070783615112305,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2872.07470703125,
                        "y": 4252.87451171875,
                        "z": 360.3453369140625
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.926056861877441,
                "transform": {
                    "location": {
                        "x": 2875.009521484375,
                        "y": 4250.05908203125,
                        "z": 360.3463439941406
                    },
                    "rotation": {
                        "roll": -0.003936765715479851,
                        "pitch": 0.3467482030391693,
                        "yaw": 9.249784469604492
                    }
                },
                "velocity": {
                    "x": 6.8305864334106445,
                    "y": 1.1458901166915894,
                    "z": -0.016971634700894356
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.650017738342285,
                "transform": {
                    "location": {
                        "x": 2914.317138671875,
                        "y": 4256.51513671875,
                        "z": 360.6113586425781
                    },
                    "rotation": {
                        "roll": 0.0008311648853123188,
                        "pitch": 0.4256710112094879,
                        "yaw": 9.236947059631348
                    }
                },
                "velocity": {
                    "x": 7.550524711608887,
                    "y": 1.2286309003829956,
                    "z": 0.05307300388813019
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.042790412902832,
                "transform": {
                    "location": {
                        "x": 2913.106201171875,
                        "y": 4259.60791015625,
                        "z": 360.618896484375
                    },
                    "rotation": {
                        "roll": 0.009180414490401745,
                        "pitch": 0.27746275067329407,
                        "yaw": 9.315751075744629
                    }
                },
                "velocity": {
                    "x": 7.9369730949401855,
                    "y": 1.2990684509277344,
                    "z": 0.057978685945272446
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081186294555664,
                "transform": {
                    "location": {
                        "x": 2956.346923828125,
                        "y": 4266.61279296875,
                        "z": 360.9327697753906
                    },
                    "rotation": {
                        "roll": -0.0006713875336572528,
                        "pitch": 0.45661860704421997,
                        "yaw": 9.18895435333252
                    }
                },
                "velocity": {
                    "x": 7.977221488952637,
                    "y": 1.290480375289917,
                    "z": 0.06458175182342529
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07767391204834,
                "transform": {
                    "location": {
                        "x": 2955.964599609375,
                        "y": 4263.2705078125,
                        "z": 360.9297180175781
                    },
                    "rotation": {
                        "roll": 0.0019428712548688054,
                        "pitch": 0.46058011054992676,
                        "yaw": 9.341157913208008
                    }
                },
                "velocity": {
                    "x": 7.973402976989746,
                    "y": 1.2920852899551392,
                    "z": 0.06464486569166183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.20240306854248,
                "transform": {
                    "location": {
                        "x": 2992.218994140625,
                        "y": 4262.33740234375,
                        "z": 361.2360534667969
                    },
                    "rotation": {
                        "roll": -0.0010375941637903452,
                        "pitch": -0.29836997389793396,
                        "yaw": -170.81396484375
                    }
                },
                "velocity": {
                    "x": -12.045308113098145,
                    "y": -1.9485021829605103,
                    "z": -0.11199988424777985
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.69477653503418,
                "transform": {
                    "location": {
                        "x": 2985.69482421875,
                        "y": 4264.57421875,
                        "z": 361.1842346191406
                    },
                    "rotation": {
                        "roll": -0.00103759637568146,
                        "pitch": -0.44536930322647095,
                        "yaw": -170.80728149414062
                    }
                },
                "velocity": {
                    "x": -14.505484580993652,
                    "y": -2.3472325801849365,
                    "z": -0.1336420178413391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.18500804901123,
                "transform": {
                    "location": {
                        "x": 2966.759033203125,
                        "y": 4258.21728515625,
                        "z": 361.0149230957031
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.4829080104827881,
                        "yaw": -170.8056182861328
                    }
                },
                "velocity": {
                    "x": -12.028637886047363,
                    "y": -1.9430899620056152,
                    "z": -0.10342370718717575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.374114990234375,
                "transform": {
                    "location": {
                        "x": 2961.110595703125,
                        "y": 4260.5966796875,
                        "z": 360.96881103515625
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.5639345645904541,
                        "yaw": -170.80572509765625
                    }
                },
                "velocity": {
                    "x": -14.189026832580566,
                    "y": -2.2962849140167236,
                    "z": -0.11741486936807632
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077130317687988,
                "transform": {
                    "location": {
                        "x": 2998.52783203125,
                        "y": 4273.4384765625,
                        "z": 361.3097839355469
                    },
                    "rotation": {
                        "roll": 0.0013124190736562014,
                        "pitch": 0.5279394388198853,
                        "yaw": 9.19702434539795
                    }
                },
                "velocity": {
                    "x": 7.972950458526611,
                    "y": 1.2909067869186401,
                    "z": 0.07519558072090149
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042384147644043,
                "transform": {
                    "location": {
                        "x": 2998.365966796875,
                        "y": 4270.12060546875,
                        "z": 361.34271240234375
                    },
                    "rotation": {
                        "roll": 0.0005088609177619219,
                        "pitch": 0.5311154723167419,
                        "yaw": 9.188440322875977
                    }
                },
                "velocity": {
                    "x": 7.938848495483398,
                    "y": 1.2842217683792114,
                    "z": 0.07349570840597153
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.083056449890137,
                "transform": {
                    "location": {
                        "x": 2893.580322265625,
                        "y": 4246.43798828125,
                        "z": 360.4674072265625
                    },
                    "rotation": {
                        "roll": -0.0036926267202943563,
                        "pitch": -0.05690913274884224,
                        "yaw": -170.4051055908203
                    }
                },
                "velocity": {
                    "x": -6.981514930725098,
                    "y": -1.1940479278564453,
                    "z": -0.04886859655380249
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.015720589086413383,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.3641662597656
                    },
                    "rotation": {
                        "roll": 0.0013624780112877488,
                        "pitch": -0.3931661546230316,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.00013018622121308,
                    "y": 5.256635995465331e-05,
                    "z": 0.015719961374998093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.939201354980469,
                "transform": {
                    "location": {
                        "x": 2930.730224609375,
                        "y": 4255.6796875,
                        "z": 360.7270202636719
                    },
                    "rotation": {
                        "roll": -0.0007324206526391208,
                        "pitch": -0.41948971152305603,
                        "yaw": -170.81402587890625
                    }
                },
                "velocity": {
                    "x": -12.77285099029541,
                    "y": -2.06592059135437,
                    "z": -0.0959361344575882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416342735290527,
                "transform": {
                    "location": {
                        "x": 2906.6494140625,
                        "y": 4251.78369140625,
                        "z": 360.5492248535156
                    },
                    "rotation": {
                        "roll": 0.001004722318612039,
                        "pitch": -0.39861664175987244,
                        "yaw": -170.81419372558594
                    }
                },
                "velocity": {
                    "x": -13.243776321411133,
                    "y": -2.142849922180176,
                    "z": -0.09391476213932037
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6135369539260864,
        "expert_target_speed": 8.1517907946434,
        "target_point": [
            52.570001349658526,
            1.597342878777166
        ],
        "target_point_next": [
            94.56266682328257,
            2.3819520836807815
        ]
    },
    "210": {
        "acceleration": [
            23.089656829833984,
            2.9677419662475586,
            0.20652371644973755
        ],
        "angular_velocity": [
            0.38159823417663574,
            -5.126217365264893,
            0.44088661670684814
        ],
        "forward_vector": [
            -0.9915398955345154,
            -0.12653803825378418,
            -0.028925197198987007
        ],
        "right_vector": [
            0.1266833245754242,
            -0.9919379353523254,
            -0.0032393878791481256
        ],
        "location": [
            2940.662109375,
            4254.7744140625,
            360.80517578125
        ],
        "rotation": [
            0.1856812685728073,
            -1.6575229167938232,
            -172.72735595703125
        ],
        "velocity": [
            -3.346769332885742,
            -0.3542496860027313,
            -0.027718285098671913
        ],
        "speed": 3.36546546670405,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.684511184692383,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.667252540588379,
                "transform": {
                    "location": {
                        "x": 2873.864013671875,
                        "y": 4253.1669921875,
                        "z": 360.3417053222656
                    },
                    "rotation": {
                        "roll": -0.0021362281404435635,
                        "pitch": 0.3642744719982147,
                        "yaw": 9.330239295959473
                    }
                },
                "velocity": {
                    "x": 6.573784828186035,
                    "y": 1.1124166250228882,
                    "z": -0.011804018169641495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.675721645355225,
                "transform": {
                    "location": {
                        "x": 2876.6845703125,
                        "y": 4250.34326171875,
                        "z": 360.3497619628906
                    },
                    "rotation": {
                        "roll": -0.0021972660906612873,
                        "pitch": 0.3846830725669861,
                        "yaw": 9.670817375183105
                    }
                },
                "velocity": {
                    "x": 6.5756659507751465,
                    "y": 1.150870680809021,
                    "z": 0.03698168694972992
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.619976043701172,
                "transform": {
                    "location": {
                        "x": 2916.397705078125,
                        "y": 4256.853515625,
                        "z": 360.62615966796875
                    },
                    "rotation": {
                        "roll": 0.0014633075334131718,
                        "pitch": 0.4385732412338257,
                        "yaw": 9.211886405944824
                    }
                },
                "velocity": {
                    "x": 8.508299827575684,
                    "y": 1.3817111253738403,
                    "z": 0.060798242688179016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.923274040222168,
                "transform": {
                    "location": {
                        "x": 2915.06396484375,
                        "y": 4259.92822265625,
                        "z": 360.6324462890625
                    },
                    "rotation": {
                        "roll": 0.003524461528286338,
                        "pitch": 0.3416801989078522,
                        "yaw": 9.260599136352539
                    }
                },
                "velocity": {
                    "x": 7.819823265075684,
                    "y": 1.2749227285385132,
                    "z": 0.05668240413069725
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046998023986816,
                "transform": {
                    "location": {
                        "x": 2958.33740234375,
                        "y": 4266.93505859375,
                        "z": 360.9490051269531
                    },
                    "rotation": {
                        "roll": -0.0002746573882177472,
                        "pitch": 0.46633797883987427,
                        "yaw": 9.188828468322754
                    }
                },
                "velocity": {
                    "x": 7.943479537963867,
                    "y": 1.2849737405776978,
                    "z": 0.06442901492118835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.015312194824219,
                "transform": {
                    "location": {
                        "x": 2957.9501953125,
                        "y": 4263.59228515625,
                        "z": 360.94580078125
                    },
                    "rotation": {
                        "roll": 0.001020489726215601,
                        "pitch": 0.4638108015060425,
                        "yaw": 9.371420860290527
                    }
                },
                "velocity": {
                    "x": 7.911680221557617,
                    "y": 1.2831188440322876,
                    "z": 0.06442632526159286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.610867500305176,
                "transform": {
                    "location": {
                        "x": 2989.118408203125,
                        "y": 4261.8359375,
                        "z": 361.20709228515625
                    },
                    "rotation": {
                        "roll": -0.0007324222824536264,
                        "pitch": -0.29369813203811646,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -12.448493003845215,
                    "y": -2.0138943195343018,
                    "z": -0.11504227668046951
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.637892723083496,
                "transform": {
                    "location": {
                        "x": 2982.1875,
                        "y": 4264.0068359375,
                        "z": 361.15155029296875
                    },
                    "rotation": {
                        "roll": 0.0004162229597568512,
                        "pitch": -0.6280494928359985,
                        "yaw": -170.8177947998047
                    }
                },
                "velocity": {
                    "x": -13.462407112121582,
                    "y": -2.1772170066833496,
                    "z": -0.124226413667202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.904191970825195,
                "transform": {
                    "location": {
                        "x": 2963.737060546875,
                        "y": 4257.728515625,
                        "z": 360.98919677734375
                    },
                    "rotation": {
                        "roll": -3.0520022846758366e-05,
                        "pitch": -0.4522404670715332,
                        "yaw": -170.82366943359375
                    }
                },
                "velocity": {
                    "x": -11.751161575317383,
                    "y": -1.900076985359192,
                    "z": -0.09841606020927429
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.179165840148926,
                "transform": {
                    "location": {
                        "x": 2957.728759765625,
                        "y": 4260.048828125,
                        "z": 360.9410400390625
                    },
                    "rotation": {
                        "roll": 0.0006418313714675605,
                        "pitch": -0.6690648198127747,
                        "yaw": -170.80474853515625
                    }
                },
                "velocity": {
                    "x": -13.009394645690918,
                    "y": -2.105903387069702,
                    "z": -0.10597376525402069
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044573783874512,
                "transform": {
                    "location": {
                        "x": 3000.516845703125,
                        "y": 4273.7607421875,
                        "z": 361.3283996582031
                    },
                    "rotation": {
                        "roll": -0.0007019020849838853,
                        "pitch": 0.5311837792396545,
                        "yaw": 9.195919036865234
                    }
                },
                "velocity": {
                    "x": 7.940958499908447,
                    "y": 1.284760594367981,
                    "z": 0.07571802288293839
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005805969238281,
                "transform": {
                    "location": {
                        "x": 3000.34619140625,
                        "y": 4270.4404296875,
                        "z": 361.3612365722656
                    },
                    "rotation": {
                        "roll": -0.0004272486548870802,
                        "pitch": 0.5309515595436096,
                        "yaw": 9.185150146484375
                    }
                },
                "velocity": {
                    "x": 7.902830123901367,
                    "y": 1.2778611183166504,
                    "z": 0.07259050011634827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.848018169403076,
                "transform": {
                    "location": {
                        "x": 2891.79833984375,
                        "y": 4246.1328125,
                        "z": 360.4576721191406
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.3844645023345947,
                        "yaw": -170.33544921875
                    }
                },
                "velocity": {
                    "x": -5.764151096343994,
                    "y": -0.9859952330589294,
                    "z": -0.04112651199102402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0032619184348732233,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.3662109375
                    },
                    "rotation": {
                        "roll": 0.0012688474962487817,
                        "pitch": -0.3929749131202698,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -9.030930232256651e-05,
                    "y": 0.00022734202502761036,
                    "z": 0.0032527330331504345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.94687271118164,
                "transform": {
                    "location": {
                        "x": 2927.535888671875,
                        "y": 4255.16357421875,
                        "z": 360.7034606933594
                    },
                    "rotation": {
                        "roll": -0.0004577647487167269,
                        "pitch": -0.41586288809776306,
                        "yaw": -170.8192901611328
                    }
                },
                "velocity": {
                    "x": -12.780535697937012,
                    "y": -2.0664687156677246,
                    "z": -0.09548960626125336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.416272163391113,
                "transform": {
                    "location": {
                        "x": 2903.33837890625,
                        "y": 4251.24853515625,
                        "z": 360.52593994140625
                    },
                    "rotation": {
                        "roll": 0.0003238981298636645,
                        "pitch": -0.39639684557914734,
                        "yaw": -170.8068389892578
                    }
                },
                "velocity": {
                    "x": -13.243794441223145,
                    "y": -2.1424026489257812,
                    "z": -0.09155764430761337
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9999924302101135,
        "expert_target_speed": 4.529712758584725,
        "target_point": [
            51.122548903538785,
            2.3824678575072795
        ],
        "target_point_next": [
            93.09898810881053,
            3.7889232710347756
        ]
    },
    "215": {
        "acceleration": [
            -7.773013114929199,
            -0.3505060374736786,
            -0.04292722046375275
        ],
        "angular_velocity": [
            -0.39192909002304077,
            6.245709419250488,
            -1.4319496154785156
        ],
        "forward_vector": [
            -0.9909006357192993,
            -0.12969453632831573,
            -0.03598949685692787
        ],
        "right_vector": [
            0.12981842458248138,
            -0.9915371537208557,
            -0.0011173039674758911
        ],
        "location": [
            2940.4267578125,
            4254.75390625,
            360.8048095703125
        ],
        "rotation": [
            0.064058318734169,
            -2.0624916553497314,
            -172.54319763183594
        ],
        "velocity": [
            -0.38195914030075073,
            -0.015685388818383217,
            -0.0024482058361172676
        ],
        "speed": 0.3822810697401487,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.456681251525879,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.864292144775391,
                "transform": {
                    "location": {
                        "x": 2875.53271484375,
                        "y": 4253.45166015625,
                        "z": 360.3469543457031
                    },
                    "rotation": {
                        "roll": 0.0002706625091377646,
                        "pitch": 0.39073461294174194,
                        "yaw": 9.722722053527832
                    }
                },
                "velocity": {
                    "x": 6.761466979980469,
                    "y": 1.1829289197921753,
                    "z": 0.04185314103960991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.864280700683594,
                "transform": {
                    "location": {
                        "x": 2878.35400390625,
                        "y": 4250.62939453125,
                        "z": 360.36090087890625
                    },
                    "rotation": {
                        "roll": 0.004736444912850857,
                        "pitch": 0.3951947093009949,
                        "yaw": 9.843453407287598
                    }
                },
                "velocity": {
                    "x": 6.7653632164001465,
                    "y": 1.1601861715316772,
                    "z": 0.046728961169719696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.179030418395996,
                "transform": {
                    "location": {
                        "x": 2918.462158203125,
                        "y": 4257.1884765625,
                        "z": 360.641357421875
                    },
                    "rotation": {
                        "roll": 0.0014681128086522222,
                        "pitch": 0.40027639269828796,
                        "yaw": 9.219298362731934
                    }
                },
                "velocity": {
                    "x": 8.073348999023438,
                    "y": 1.309178113937378,
                    "z": 0.06027023121714592
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.158671379089355,
                "transform": {
                    "location": {
                        "x": 2917.052978515625,
                        "y": 4260.251953125,
                        "z": 360.64581298828125
                    },
                    "rotation": {
                        "roll": 0.0038180879782885313,
                        "pitch": 0.47150158882141113,
                        "yaw": 9.237680435180664
                    }
                },
                "velocity": {
                    "x": 8.052887916564941,
                    "y": 1.3082983493804932,
                    "z": 0.05711160600185394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.075057983398438,
                "transform": {
                    "location": {
                        "x": 2960.326416015625,
                        "y": 4267.25634765625,
                        "z": 360.9654235839844
                    },
                    "rotation": {
                        "roll": -0.000579831947106868,
                        "pitch": 0.4709278643131256,
                        "yaw": 9.185638427734375
                    }
                },
                "velocity": {
                    "x": 7.971252918243408,
                    "y": 1.2889678478240967,
                    "z": 0.06511695683002472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.075934410095215,
                "transform": {
                    "location": {
                        "x": 2959.936279296875,
                        "y": 4263.91357421875,
                        "z": 360.9620361328125
                    },
                    "rotation": {
                        "roll": 0.002158620161935687,
                        "pitch": 0.47391265630722046,
                        "yaw": 9.340065002441406
                    }
                },
                "velocity": {
                    "x": 7.972144603729248,
                    "y": 1.288895845413208,
                    "z": 0.06616807729005814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.354185104370117,
                "transform": {
                    "location": {
                        "x": 2986.161865234375,
                        "y": 4261.35791015625,
                        "z": 361.1813049316406
                    },
                    "rotation": {
                        "roll": 0.0004440427874214947,
                        "pitch": -0.7735598683357239,
                        "yaw": -170.81698608398438
                    }
                },
                "velocity": {
                    "x": -11.20795726776123,
                    "y": -1.813350796699524,
                    "z": -0.10473214834928513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.594001770019531,
                "transform": {
                    "location": {
                        "x": 2978.97021484375,
                        "y": 4263.48681640625,
                        "z": 361.12200927734375
                    },
                    "rotation": {
                        "roll": 0.0014783490914851427,
                        "pitch": -0.6670225858688354,
                        "yaw": -170.82772827148438
                    }
                },
                "velocity": {
                    "x": -12.432318687438965,
                    "y": -2.0083069801330566,
                    "z": -0.1142483800649643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.368903160095215,
                "transform": {
                    "location": {
                        "x": 2960.992431640625,
                        "y": 4257.28466796875,
                        "z": 360.9654541015625
                    },
                    "rotation": {
                        "roll": 0.00019709335174411535,
                        "pitch": -0.3358745276927948,
                        "yaw": -170.80398559570312
                    }
                },
                "velocity": {
                    "x": -10.2353515625,
                    "y": -1.6566706895828247,
                    "z": -0.08474259078502655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.87941837310791,
                "transform": {
                    "location": {
                        "x": 2954.544921875,
                        "y": 4259.5341796875,
                        "z": 360.9154968261719
                    },
                    "rotation": {
                        "roll": 0.000536244479008019,
                        "pitch": -0.5494682192802429,
                        "yaw": -170.80963134765625
                    }
                },
                "velocity": {
                    "x": -12.713666915893555,
                    "y": -2.0570905208587646,
                    "z": -0.10224183648824692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077302932739258,
                "transform": {
                    "location": {
                        "x": 3002.506103515625,
                        "y": 4274.08154296875,
                        "z": 361.3470764160156
                    },
                    "rotation": {
                        "roll": 0.00012209828128106892,
                        "pitch": 0.5352135896682739,
                        "yaw": 9.18856143951416
                    }
                },
                "velocity": {
                    "x": 7.973315715789795,
                    "y": 1.2896347045898438,
                    "z": 0.07681117951869965
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.040857315063477,
                "transform": {
                    "location": {
                        "x": 3002.326171875,
                        "y": 4270.76123046875,
                        "z": 361.3797607421875
                    },
                    "rotation": {
                        "roll": -0.0006103547639213502,
                        "pitch": 0.5354116559028625,
                        "yaw": 9.188946723937988
                    }
                },
                "velocity": {
                    "x": 7.9373297691345215,
                    "y": 1.2839794158935547,
                    "z": 0.0746646448969841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00296305725350976,
                "transform": {
                    "location": {
                        "x": 2891.19873046875,
                        "y": 4246.02978515625,
                        "z": 360.4647521972656
                    },
                    "rotation": {
                        "roll": 0.004873207770287991,
                        "pitch": -1.8043173551559448,
                        "yaw": -170.42942810058594
                    }
                },
                "velocity": {
                    "x": -0.0024676998145878315,
                    "y": -0.000635471020359546,
                    "z": -0.0015120657626539469
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011767828982556239,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0015501858433708549,
                        "pitch": -0.39319348335266113,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.3116990632843226e-05,
                    "y": 1.5004257875261828e-05,
                    "z": 0.00011440566595410928
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.88066291809082,
                "transform": {
                    "location": {
                        "x": 2924.343994140625,
                        "y": 4254.6474609375,
                        "z": 360.67999267578125
                    },
                    "rotation": {
                        "roll": 0.0012955786660313606,
                        "pitch": -0.41427144408226013,
                        "yaw": -170.81353759765625
                    }
                },
                "velocity": {
                    "x": -12.715085983276367,
                    "y": -2.0565788745880127,
                    "z": -0.0924789234995842
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.61176586151123,
                "transform": {
                    "location": {
                        "x": 2900.08935546875,
                        "y": 4250.72314453125,
                        "z": 360.5036315917969
                    },
                    "rotation": {
                        "roll": 4.43374810856767e-05,
                        "pitch": -0.43667444586753845,
                        "yaw": -170.81455993652344
                    }
                },
                "velocity": {
                    "x": -12.449616432189941,
                    "y": -2.0139715671539307,
                    "z": -0.08724451810121536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9981817007064819,
        "expert_target_speed": 0,
        "target_point": [
            50.89391916864938,
            2.2283631621198587
        ],
        "target_point_next": [
            92.87466176052348,
            3.4999042031104626
        ]
    },
    "220": {
        "acceleration": [
            -3.790343999862671,
            -0.15798978507518768,
            -0.023460770025849342
        ],
        "angular_velocity": [
            -0.2521078884601593,
            3.343414783477783,
            -4.077845573425293
        ],
        "forward_vector": [
            -0.9928403496742249,
            -0.11856229603290558,
            -0.014524783007800579
        ],
        "right_vector": [
            0.11860350519418716,
            -0.9929396510124207,
            -0.00200627907179296
        ],
        "location": [
            2940.217041015625,
            4254.74462890625,
            360.79876708984375
        ],
        "rotation": [
            0.11496352404356003,
            -0.8322380185127258,
            -173.1901397705078
        ],
        "velocity": [
            -1.116602897644043,
            -0.02798832207918167,
            -0.006697797682136297
        ],
        "speed": 1.1169536146142691,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.257240295410156,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.601003170013428,
                "transform": {
                    "location": {
                        "x": 2877.189697265625,
                        "y": 4253.7392578125,
                        "z": 360.35833740234375
                    },
                    "rotation": {
                        "roll": 0.004876366816461086,
                        "pitch": 0.3941975235939026,
                        "yaw": 9.856900215148926
                    }
                },
                "velocity": {
                    "x": 6.50545597076416,
                    "y": 1.1180822849273682,
                    "z": 0.04667822644114494
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.349574089050293,
                "transform": {
                    "location": {
                        "x": 2879.9990234375,
                        "y": 4250.91162109375,
                        "z": 360.3724670410156
                    },
                    "rotation": {
                        "roll": 0.004739146213978529,
                        "pitch": 0.38299599289894104,
                        "yaw": 9.793793678283691
                    }
                },
                "velocity": {
                    "x": 6.258584022521973,
                    "y": 1.0701899528503418,
                    "z": 0.043748024851083755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.95136833190918,
                "transform": {
                    "location": {
                        "x": 2920.446533203125,
                        "y": 4257.5107421875,
                        "z": 360.6558837890625
                    },
                    "rotation": {
                        "roll": -3.051982639590278e-05,
                        "pitch": 0.40284454822540283,
                        "yaw": 9.19154167175293
                    }
                },
                "velocity": {
                    "x": 7.848752498626709,
                    "y": 1.2720528841018677,
                    "z": 0.05675961449742317
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07635498046875,
                "transform": {
                    "location": {
                        "x": 2919.0595703125,
                        "y": 4260.578125,
                        "z": 360.66058349609375
                    },
                    "rotation": {
                        "roll": 0.001359031768515706,
                        "pitch": 0.4265862703323364,
                        "yaw": 9.224776268005371
                    }
                },
                "velocity": {
                    "x": 7.971865177154541,
                    "y": 1.2936946153640747,
                    "z": 0.05684084817767143
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046117782592773,
                "transform": {
                    "location": {
                        "x": 2962.31591796875,
                        "y": 4267.57763671875,
                        "z": 360.9819030761719
                    },
                    "rotation": {
                        "roll": 0.00041680573485791683,
                        "pitch": 0.4719933569431305,
                        "yaw": 9.187451362609863
                    }
                },
                "velocity": {
                    "x": 7.942612171173096,
                    "y": 1.2847150564193726,
                    "z": 0.06656951457262039
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01366901397705,
                "transform": {
                    "location": {
                        "x": 2961.921142578125,
                        "y": 4264.23486328125,
                        "z": 360.9785461425781
                    },
                    "rotation": {
                        "roll": -0.0003967247321270406,
                        "pitch": 0.4725329577922821,
                        "yaw": 9.357681274414062
                    }
                },
                "velocity": {
                    "x": 7.910171985626221,
                    "y": 1.2821530103683472,
                    "z": 0.06448259204626083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.418172836303711,
                "transform": {
                    "location": {
                        "x": 2983.56591796875,
                        "y": 4260.9375,
                        "z": 361.1586608886719
                    },
                    "rotation": {
                        "roll": -0.002166752703487873,
                        "pitch": -1.1665620803833008,
                        "yaw": -170.8048095703125
                    }
                },
                "velocity": {
                    "x": -9.296390533447266,
                    "y": -1.5071901082992554,
                    "z": -0.08654472231864929
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.229241371154785,
                "transform": {
                    "location": {
                        "x": 2975.917236328125,
                        "y": 4262.99365234375,
                        "z": 361.0945129394531
                    },
                    "rotation": {
                        "roll": 0.0016987862763926387,
                        "pitch": -0.5908454656600952,
                        "yaw": -170.8195037841797
                    }
                },
                "velocity": {
                    "x": -12.072141647338867,
                    "y": -1.9509305953979492,
                    "z": -0.10775209218263626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.943288803100586,
                "transform": {
                    "location": {
                        "x": 2958.62548828125,
                        "y": 4256.90185546875,
                        "z": 360.9460754394531
                    },
                    "rotation": {
                        "roll": -0.00024413966457359493,
                        "pitch": -0.319031298160553,
                        "yaw": -170.82240295410156
                    }
                },
                "velocity": {
                    "x": -8.82817268371582,
                    "y": -1.4284932613372803,
                    "z": -0.07198476046323776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.531671524047852,
                "transform": {
                    "location": {
                        "x": 2951.41455078125,
                        "y": 4259.02783203125,
                        "z": 360.8906555175781
                    },
                    "rotation": {
                        "roll": 0.0009377122041769326,
                        "pitch": -0.5199891328811646,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -12.37042236328125,
                    "y": -2.0014684200286865,
                    "z": -0.09789139777421951
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0446138381958,
                "transform": {
                    "location": {
                        "x": 3004.495361328125,
                        "y": 4274.40380859375,
                        "z": 361.3658142089844
                    },
                    "rotation": {
                        "roll": 0.0002266300143674016,
                        "pitch": 0.5336495041847229,
                        "yaw": 9.191628456115723
                    }
                },
                "velocity": {
                    "x": 7.940904140472412,
                    "y": 1.2853296995162964,
                    "z": 0.07602889835834503
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006633758544922,
                "transform": {
                    "location": {
                        "x": 3004.30615234375,
                        "y": 4271.08154296875,
                        "z": 361.3984375
                    },
                    "rotation": {
                        "roll": -0.00030517406412400305,
                        "pitch": 0.5362107753753662,
                        "yaw": 9.18911361694336
                    }
                },
                "velocity": {
                    "x": 7.903542518615723,
                    "y": 1.278494954109192,
                    "z": 0.07519571483135223
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.009138322435319424,
                "transform": {
                    "location": {
                        "x": 2891.191162109375,
                        "y": 4246.02783203125,
                        "z": 360.4567565917969
                    },
                    "rotation": {
                        "roll": -0.0006103469058871269,
                        "pitch": -0.8398399949073792,
                        "yaw": -170.4298553466797
                    }
                },
                "velocity": {
                    "x": 0.008874524384737015,
                    "y": 0.0017357832984998822,
                    "z": 0.0013186418218538165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001782408362487331,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0015501858433708549,
                        "pitch": -0.39319348335266113,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -2.2490843548439443e-05,
                    "y": 2.8345910322968848e-05,
                    "z": 0.00017452926840633154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.934304237365723,
                "transform": {
                    "location": {
                        "x": 2921.268310546875,
                        "y": 4254.14990234375,
                        "z": 360.6579284667969
                    },
                    "rotation": {
                        "roll": 0.0008502998971380293,
                        "pitch": -0.43694767355918884,
                        "yaw": -170.80125427246094
                    }
                },
                "velocity": {
                    "x": -11.78060245513916,
                    "y": -1.9072333574295044,
                    "z": -0.08653206378221512
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.056557655334473,
                "transform": {
                    "location": {
                        "x": 2897.17626953125,
                        "y": 4250.251953125,
                        "z": 360.4837341308594
                    },
                    "rotation": {
                        "roll": 0.0003792722418438643,
                        "pitch": -0.4803125262260437,
                        "yaw": -170.80374145507812
                    }
                },
                "velocity": {
                    "x": -10.9144287109375,
                    "y": -1.7654881477355957,
                    "z": -0.075844906270504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9996334910392761,
        "expert_target_speed": 0,
        "target_point": [
            50.656177736758956,
            2.81850878404775
        ],
        "target_point_next": [
            92.619887652203,
            4.563964402669683
        ]
    },
    "225": {
        "acceleration": [
            -4.031400680541992,
            0.07532745599746704,
            -0.03872223198413849
        ],
        "angular_velocity": [
            0.01129939965903759,
            1.3808833360671997,
            -5.652139186859131
        ],
        "forward_vector": [
            -0.9951798319816589,
            -0.09787190705537796,
            -0.006184776313602924
        ],
        "right_vector": [
            0.09788872301578522,
            -0.9951943159103394,
            -0.002476077526807785
        ],
        "location": [
            2939.853271484375,
            4254.73388671875,
            360.79449462890625
        ],
        "rotation": [
            0.1418716460466385,
            -0.3543638586997986,
            -174.3832550048828
        ],
        "velocity": [
            -1.8119566440582275,
            -0.019007718190550804,
            -0.012763815000653267
        ],
        "speed": 1.8120563383343151,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.9146199226379395,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.164345741271973,
                "transform": {
                    "location": {
                        "x": 2878.874267578125,
                        "y": 4254.02734375,
                        "z": 360.37005615234375
                    },
                    "rotation": {
                        "roll": 0.004832109902054071,
                        "pitch": 0.4004334807395935,
                        "yaw": 9.719768524169922
                    }
                },
                "velocity": {
                    "x": 7.063246726989746,
                    "y": 1.1983189582824707,
                    "z": 0.049296967685222626
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.180092811584473,
                "transform": {
                    "location": {
                        "x": 2881.51513671875,
                        "y": 4251.17138671875,
                        "z": 360.3830261230469
                    },
                    "rotation": {
                        "roll": 0.004297946579754353,
                        "pitch": 0.3785427212715149,
                        "yaw": 9.719192504882812
                    }
                },
                "velocity": {
                    "x": 6.091980457305908,
                    "y": 1.039035677909851,
                    "z": 0.04155648127198219
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.949461936950684,
                "transform": {
                    "location": {
                        "x": 2922.404541015625,
                        "y": 4257.82763671875,
                        "z": 360.66998291015625
                    },
                    "rotation": {
                        "roll": -0.00012206608516862616,
                        "pitch": 0.41126614809036255,
                        "yaw": 9.212255477905273
                    }
                },
                "velocity": {
                    "x": 7.846773624420166,
                    "y": 1.2723605632781982,
                    "z": 0.05647609755396843
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04176139831543,
                "transform": {
                    "location": {
                        "x": 2921.044921875,
                        "y": 4260.900390625,
                        "z": 360.67529296875
                    },
                    "rotation": {
                        "roll": 0.0009089564555324614,
                        "pitch": 0.38981252908706665,
                        "yaw": 9.215388298034668
                    }
                },
                "velocity": {
                    "x": 7.938006401062012,
                    "y": 1.2863677740097046,
                    "z": 0.05695877969264984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077849388122559,
                "transform": {
                    "location": {
                        "x": 2964.3056640625,
                        "y": 4267.8994140625,
                        "z": 360.9986572265625
                    },
                    "rotation": {
                        "roll": -0.0007934540044516325,
                        "pitch": 0.4830719232559204,
                        "yaw": 9.190914154052734
                    }
                },
                "velocity": {
                    "x": 7.973698616027832,
                    "y": 1.2911708354949951,
                    "z": 0.0682804062962532
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077619552612305,
                "transform": {
                    "location": {
                        "x": 2963.9072265625,
                        "y": 4264.55615234375,
                        "z": 360.9951171875
                    },
                    "rotation": {
                        "roll": 0.00027078925631940365,
                        "pitch": 0.48278507590293884,
                        "yaw": 9.347049713134766
                    }
                },
                "velocity": {
                    "x": 7.973589897155762,
                    "y": 1.2904638051986694,
                    "z": 0.06708597391843796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.032015800476074,
                "transform": {
                    "location": {
                        "x": 2981.334228515625,
                        "y": 4260.57568359375,
                        "z": 361.13726806640625
                    },
                    "rotation": {
                        "roll": 0.0022481416817754507,
                        "pitch": -0.960331380367279,
                        "yaw": -170.8213348388672
                    }
                },
                "velocity": {
                    "x": -8.915932655334473,
                    "y": -1.441135048866272,
                    "z": -0.08102690428495407
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.171745300292969,
                "transform": {
                    "location": {
                        "x": 2972.91748046875,
                        "y": 4262.50830078125,
                        "z": 361.0679931640625
                    },
                    "rotation": {
                        "roll": -0.00012207137478981167,
                        "pitch": -0.5232539176940918,
                        "yaw": -170.8080291748047
                    }
                },
                "velocity": {
                    "x": -12.015021324157715,
                    "y": -1.9440178871154785,
                    "z": -0.10697566717863083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.507313251495361,
                "transform": {
                    "location": {
                        "x": 2956.665283203125,
                        "y": 4256.58251953125,
                        "z": 360.9295349121094
                    },
                    "rotation": {
                        "roll": 0.004386600106954575,
                        "pitch": -0.23297090828418732,
                        "yaw": -171.0670166015625
                    }
                },
                "velocity": {
                    "x": -6.422706127166748,
                    "y": -1.044659972190857,
                    "z": -0.051520250737667084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.5755033493042,
                "transform": {
                    "location": {
                        "x": 2948.2861328125,
                        "y": 4258.52197265625,
                        "z": 360.86639404296875
                    },
                    "rotation": {
                        "roll": 0.0007673259824514389,
                        "pitch": -0.4498567283153534,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -12.413726806640625,
                    "y": -2.0084030628204346,
                    "z": -0.09487003833055496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078045845031738,
                "transform": {
                    "location": {
                        "x": 3006.48486328125,
                        "y": 4274.7255859375,
                        "z": 361.3846130371094
                    },
                    "rotation": {
                        "roll": 0.00010901094356086105,
                        "pitch": 0.5338612198829651,
                        "yaw": 9.193628311157227
                    }
                },
                "velocity": {
                    "x": 7.973918914794922,
                    "y": 1.2905638217926025,
                    "z": 0.07672008126974106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041403770446777,
                "transform": {
                    "location": {
                        "x": 3006.286376953125,
                        "y": 4271.40185546875,
                        "z": 361.4171447753906
                    },
                    "rotation": {
                        "roll": -0.0002136261755367741,
                        "pitch": 0.5364293456077576,
                        "yaw": 9.189322471618652
                    }
                },
                "velocity": {
                    "x": 7.937859535217285,
                    "y": 1.2840811014175415,
                    "z": 0.07547925412654877
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0020064625423401594,
                "transform": {
                    "location": {
                        "x": 2891.1865234375,
                        "y": 4246.02685546875,
                        "z": 360.4520263671875
                    },
                    "rotation": {
                        "roll": -0.0028686511795967817,
                        "pitch": -0.2404499650001526,
                        "yaw": -170.42990112304688
                    }
                },
                "velocity": {
                    "x": 0.0008323806105181575,
                    "y": 0.00014487068983726203,
                    "z": 0.0018199030309915543
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00043862711754627526,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0015501858433708549,
                        "pitch": -0.39319348335266113,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.9661187252495438e-05,
                    "y": -1.094219260266982e-05,
                    "z": 0.0004380496102385223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.679871559143066,
                "transform": {
                    "location": {
                        "x": 2918.484375,
                        "y": 4253.69921875,
                        "z": 360.63787841796875
                    },
                    "rotation": {
                        "roll": 0.0006804649601690471,
                        "pitch": -0.44738420844078064,
                        "yaw": -170.79629516601562
                    }
                },
                "velocity": {
                    "x": -10.542332649230957,
                    "y": -1.706785798072815,
                    "z": -0.07594896852970123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.553980827331543,
                "transform": {
                    "location": {
                        "x": 2894.642822265625,
                        "y": 4249.841796875,
                        "z": 360.4662780761719
                    },
                    "rotation": {
                        "roll": 0.0005205973866395652,
                        "pitch": -0.4884336292743683,
                        "yaw": -170.81622314453125
                    }
                },
                "velocity": {
                    "x": -9.431178092956543,
                    "y": -1.525517225265503,
                    "z": -0.0650336965918541
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0005849599838257,
        "expert_target_speed": 0,
        "target_point": [
            50.22343413671086,
            3.8975723456241207
        ],
        "target_point_next": [
            92.14170245513493,
            6.516416817661465
        ]
    },
    "230": {
        "acceleration": [
            -0.18134117126464844,
            0.09820044040679932,
            -4.634261131286621e-05
        ],
        "angular_velocity": [
            -0.037014566361904144,
            -0.4650980830192566,
            -5.098670482635498
        ],
        "forward_vector": [
            -0.997348964214325,
            -0.07269354909658432,
            -0.0032650171779096127
        ],
        "right_vector": [
            0.0727003663778305,
            -0.9973517656326294,
            -0.002019510604441166
        ],
        "location": [
            2939.290771484375,
            4254.720703125,
            360.7897644042969
        ],
        "rotation": [
            0.11571012437343597,
            -0.1870720386505127,
            -175.83126831054688
        ],
        "velocity": [
            -2.4380762577056885,
            -0.039338238537311554,
            -0.01779143325984478
        ],
        "speed": 2.438393597309383,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.390210151672363,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.349583625793457,
                "transform": {
                    "location": {
                        "x": 2880.791259765625,
                        "y": 4254.3525390625,
                        "z": 360.3831481933594
                    },
                    "rotation": {
                        "roll": 0.0036245877854526043,
                        "pitch": 0.4155760109424591,
                        "yaw": 9.615583419799805
                    }
                },
                "velocity": {
                    "x": 8.23279094696045,
                    "y": 1.390503168106079,
                    "z": 0.05651474744081497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.938287258148193,
                "transform": {
                    "location": {
                        "x": 2883.123046875,
                        "y": 4251.44287109375,
                        "z": 360.3938293457031
                    },
                    "rotation": {
                        "roll": 0.004337618127465248,
                        "pitch": 0.4101869761943817,
                        "yaw": 9.572392463684082
                    }
                },
                "velocity": {
                    "x": 6.843436241149902,
                    "y": 1.1423951387405396,
                    "z": 0.04636301100254059
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014328956604004,
                "transform": {
                    "location": {
                        "x": 2924.37548828125,
                        "y": 4258.14697265625,
                        "z": 360.6843566894531
                    },
                    "rotation": {
                        "roll": 3.3351410522186598e-09,
                        "pitch": 0.41541892290115356,
                        "yaw": 9.186223983764648
                    }
                },
                "velocity": {
                    "x": 7.911205768585205,
                    "y": 1.2802493572235107,
                    "z": 0.05703471973538399
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.060027122497559,
                "transform": {
                    "location": {
                        "x": 2923.031494140625,
                        "y": 4261.22216796875,
                        "z": 360.68951416015625
                    },
                    "rotation": {
                        "roll": 0.000161290867254138,
                        "pitch": 0.4213065207004547,
                        "yaw": 9.202895164489746
                    }
                },
                "velocity": {
                    "x": 7.956208229064941,
                    "y": 1.2882508039474487,
                    "z": 0.05651874467730522
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044588088989258,
                "transform": {
                    "location": {
                        "x": 2966.294677734375,
                        "y": 4268.2216796875,
                        "z": 361.01568603515625
                    },
                    "rotation": {
                        "roll": -0.0004882825305685401,
                        "pitch": 0.48378226161003113,
                        "yaw": 9.196857452392578
                    }
                },
                "velocity": {
                    "x": 7.9408860206604,
                    "y": 1.2857437133789062,
                    "z": 0.06778953224420547
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013490676879883,
                "transform": {
                    "location": {
                        "x": 2965.89208984375,
                        "y": 4264.87744140625,
                        "z": 361.0119934082031
                    },
                    "rotation": {
                        "roll": 0.0005973895895294845,
                        "pitch": 0.4862479567527771,
                        "yaw": 9.34956169128418
                    }
                },
                "velocity": {
                    "x": 7.910048484802246,
                    "y": 1.2816102504730225,
                    "z": 0.06803466379642487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.802451133728027,
                "transform": {
                    "location": {
                        "x": 2979.034423828125,
                        "y": 4260.2041015625,
                        "z": 361.1147155761719
                    },
                    "rotation": {
                        "roll": 0.0007133119506761432,
                        "pitch": -0.5026267766952515,
                        "yaw": -170.82627868652344
                    }
                },
                "velocity": {
                    "x": -9.676146507263184,
                    "y": -1.5660287141799927,
                    "z": -0.08827777951955795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.74614143371582,
                "transform": {
                    "location": {
                        "x": 2969.84765625,
                        "y": 4262.01123046875,
                        "z": 361.0412292480469
                    },
                    "rotation": {
                        "roll": 0.0008817561320029199,
                        "pitch": -0.4296257197856903,
                        "yaw": -170.80462646484375
                    }
                },
                "velocity": {
                    "x": -12.581928253173828,
                    "y": -2.0365331172943115,
                    "z": -0.1084175556898117
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9831254482269287,
                "transform": {
                    "location": {
                        "x": 2955.380615234375,
                        "y": 4256.359375,
                        "z": 360.9187927246094
                    },
                    "rotation": {
                        "roll": 0.01539019774645567,
                        "pitch": -0.21588177978992462,
                        "yaw": -171.95716857910156
                    }
                },
                "velocity": {
                    "x": -3.9247820377349854,
                    "y": -0.6784723401069641,
                    "z": -0.03240790218114853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.495718002319336,
                "transform": {
                    "location": {
                        "x": 2945.228759765625,
                        "y": 4258.02685546875,
                        "z": 360.84295654296875
                    },
                    "rotation": {
                        "roll": 0.00039429854950867593,
                        "pitch": -0.44513022899627686,
                        "yaw": -170.80950927734375
                    }
                },
                "velocity": {
                    "x": -12.334980010986328,
                    "y": -1.995686650276184,
                    "z": -0.09212613105773926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3008.5361328125,
                        "y": 4274.98779296875,
                        "z": 361.40753173828125
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3008.302001953125,
                        "y": 4271.69091796875,
                        "z": 361.4240417480469
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0020759841427206993,
                "transform": {
                    "location": {
                        "x": 2891.18701171875,
                        "y": 4246.02734375,
                        "z": 360.452880859375
                    },
                    "rotation": {
                        "roll": -0.0031127920374274254,
                        "pitch": -0.3362092077732086,
                        "yaw": -170.429931640625
                    }
                },
                "velocity": {
                    "x": -0.0011970257619395852,
                    "y": -0.00020215954282321036,
                    "z": 0.0016840340103954077
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7008365830406547e-05,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0015501858433708549,
                        "pitch": -0.39319348335266113,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.6635358406347223e-05,
                    "y": -1.4325230495160213e-06,
                    "z": 3.239943680455326e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.440346717834473,
                "transform": {
                    "location": {
                        "x": 2915.907958984375,
                        "y": 4253.28173828125,
                        "z": 360.61907958984375
                    },
                    "rotation": {
                        "roll": 0.00022881088079884648,
                        "pitch": -0.42278867959976196,
                        "yaw": -170.7964324951172
                    }
                },
                "velocity": {
                    "x": -10.305891036987305,
                    "y": -1.6685224771499634,
                    "z": -0.07401251792907715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.650116920471191,
                "transform": {
                    "location": {
                        "x": 2892.493408203125,
                        "y": 4249.494140625,
                        "z": 360.45172119140625
                    },
                    "rotation": {
                        "roll": -0.002014168770983815,
                        "pitch": -0.5116221308708191,
                        "yaw": -170.78573608398438
                    }
                },
                "velocity": {
                    "x": -7.551682949066162,
                    "y": -1.2221565246582031,
                    "z": -0.051992952823638916
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000666618347168,
        "expert_target_speed": 0,
        "target_point": [
            49.546933298856686,
            5.193223381704857
        ],
        "target_point_next": [
            91.38563677142439,
            8.870512725592071
        ]
    },
    "235": {
        "acceleration": [
            1.6464567184448242,
            -0.2761654257774353,
            -0.009164437651634216
        ],
        "angular_velocity": [
            -0.35078367590904236,
            -0.83664470911026,
            -2.713322162628174
        ],
        "forward_vector": [
            -0.9984831213951111,
            -0.054583027958869934,
            -0.007221873849630356
        ],
        "right_vector": [
            0.05459251254796982,
            -0.998508095741272,
            -0.0011227373033761978
        ],
        "location": [
            2938.7236328125,
            4254.708984375,
            360.78656005859375
        ],
        "rotation": [
            0.06432980298995972,
            -0.41378650069236755,
            -176.87098693847656
        ],
        "velocity": [
            -2.09420108795166,
            -0.037556592375040054,
            -0.017291126772761345
        ],
        "speed": 2.094537823580358,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.868289470672607,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.162161827087402,
                "transform": {
                    "location": {
                        "x": 2882.8515625,
                        "y": 4254.69873046875,
                        "z": 360.3975830078125
                    },
                    "rotation": {
                        "roll": 0.0034436224959790707,
                        "pitch": 0.3908848762512207,
                        "yaw": 9.493254661560059
                    }
                },
                "velocity": {
                    "x": 8.05177116394043,
                    "y": 1.3366886377334595,
                    "z": 0.05594535544514656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.654057502746582,
                "transform": {
                    "location": {
                        "x": 2884.95458984375,
                        "y": 4251.74853515625,
                        "z": 360.4063720703125
                    },
                    "rotation": {
                        "roll": 0.0036465288139879704,
                        "pitch": 0.414046049118042,
                        "yaw": 9.430628776550293
                    }
                },
                "velocity": {
                    "x": 7.550927639007568,
                    "y": 1.25111985206604,
                    "z": 0.05279224365949631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019554138183594,
                "transform": {
                    "location": {
                        "x": 2926.355224609375,
                        "y": 4258.46728515625,
                        "z": 360.6988525390625
                    },
                    "rotation": {
                        "roll": -0.0013122514355927706,
                        "pitch": 0.41712644696235657,
                        "yaw": 9.201277732849121
                    }
                },
                "velocity": {
                    "x": 7.916264533996582,
                    "y": 1.281717300415039,
                    "z": 0.056696414947509766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.098042488098145,
                "transform": {
                    "location": {
                        "x": 2925.02685546875,
                        "y": 4261.54541015625,
                        "z": 360.7041320800781
                    },
                    "rotation": {
                        "roll": 0.00031671885517425835,
                        "pitch": 0.42913392186164856,
                        "yaw": 9.195710182189941
                    }
                },
                "velocity": {
                    "x": 7.993772983551025,
                    "y": 1.2940728664398193,
                    "z": 0.0570974163711071
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07773494720459,
                "transform": {
                    "location": {
                        "x": 2968.284423828125,
                        "y": 4268.5439453125,
                        "z": 361.0328674316406
                    },
                    "rotation": {
                        "roll": -0.0004882829380221665,
                        "pitch": 0.4896903932094574,
                        "yaw": 9.197940826416016
                    }
                },
                "velocity": {
                    "x": 7.973589897155762,
                    "y": 1.29109525680542,
                    "z": 0.06891502439975739
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077437400817871,
                "transform": {
                    "location": {
                        "x": 2967.878173828125,
                        "y": 4265.19873046875,
                        "z": 361.029052734375
                    },
                    "rotation": {
                        "roll": 0.0014937749365344644,
                        "pitch": 0.49025729298591614,
                        "yaw": 9.350244522094727
                    }
                },
                "velocity": {
                    "x": 7.973199367523193,
                    "y": 1.2916321754455566,
                    "z": 0.06902984529733658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.602323532104492,
                "transform": {
                    "location": {
                        "x": 2976.44873046875,
                        "y": 4259.7861328125,
                        "z": 361.09039306640625
                    },
                    "rotation": {
                        "roll": 0.0017355885356664658,
                        "pitch": -0.2116948664188385,
                        "yaw": -170.8368682861328
                    }
                },
                "velocity": {
                    "x": -10.466264724731445,
                    "y": -1.6904739141464233,
                    "z": -0.09415575861930847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.465470314025879,
                "transform": {
                    "location": {
                        "x": 2966.724365234375,
                        "y": 4261.50537109375,
                        "z": 361.0143127441406
                    },
                    "rotation": {
                        "roll": -0.00039672612911090255,
                        "pitch": -0.49624738097190857,
                        "yaw": -170.79689025878906
                    }
                },
                "velocity": {
                    "x": -12.304595947265625,
                    "y": -1.993412733078003,
                    "z": -0.1056717187166214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4403786659240723,
                "transform": {
                    "location": {
                        "x": 2954.66845703125,
                        "y": 4256.2412109375,
                        "z": 360.9137878417969
                    },
                    "rotation": {
                        "roll": -0.006500245537608862,
                        "pitch": -0.29077479243278503,
                        "yaw": -171.82650756835938
                    }
                },
                "velocity": {
                    "x": -2.4095568656921387,
                    "y": -0.3862268626689911,
                    "z": -0.01766679808497429
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.408461570739746,
                "transform": {
                    "location": {
                        "x": 2942.1103515625,
                        "y": 4257.5224609375,
                        "z": 360.81951904296875
                    },
                    "rotation": {
                        "roll": 0.0005923236603848636,
                        "pitch": -0.4493717849254608,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -12.248838424682617,
                    "y": -1.9817447662353516,
                    "z": -0.09251199662685394
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3010.594970703125,
                        "y": 4275.30029296875,
                        "z": 361.42816162109375
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3010.365966796875,
                        "y": 4271.9697265625,
                        "z": 361.42510986328125
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0016375313280150294,
                "transform": {
                    "location": {
                        "x": 2891.187744140625,
                        "y": 4246.02734375,
                        "z": 360.4534606933594
                    },
                    "rotation": {
                        "roll": -0.0026550274342298508,
                        "pitch": -0.41122516989707947,
                        "yaw": -170.42996215820312
                    }
                },
                "velocity": {
                    "x": -0.00014240517339203507,
                    "y": -1.2854728993261233e-05,
                    "z": 0.0016312769148498774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001289470528718084,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0015501858433708549,
                        "pitch": -0.39319348335266113,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.873016299214214e-05,
                    "y": -2.035309444181621e-05,
                    "z": 0.00012594551662914455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.470391273498535,
                "transform": {
                    "location": {
                        "x": 2913.29833984375,
                        "y": 4252.859375,
                        "z": 360.6003112792969
                    },
                    "rotation": {
                        "roll": 0.0006298302905634046,
                        "pitch": -0.40185415744781494,
                        "yaw": -170.8026885986328
                    }
                },
                "velocity": {
                    "x": -10.33551025390625,
                    "y": -1.6735334396362305,
                    "z": -0.07491188496351242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.01668119430542,
                "transform": {
                    "location": {
                        "x": 2890.824951171875,
                        "y": 4249.2236328125,
                        "z": 360.440185546875
                    },
                    "rotation": {
                        "roll": -0.001617429661564529,
                        "pitch": -0.5028931498527527,
                        "yaw": -170.82254028320312
                    }
                },
                "velocity": {
                    "x": -5.939196586608887,
                    "y": -0.961625337600708,
                    "z": -0.04091985151171684
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9983651041984558,
        "expert_target_speed": 0,
        "target_point": [
            48.8776062548919,
            6.110702208241092
        ],
        "target_point_next": [
            90.642692818809,
            10.546591013500814
        ]
    },
    "240": {
        "acceleration": [
            0.05232810974121094,
            -0.05174607038497925,
            -0.008524693548679352
        ],
        "angular_velocity": [
            0.11277827620506287,
            0.10569307208061218,
            -0.1631038337945938
        ],
        "forward_vector": [
            -0.9986660480499268,
            -0.05088692158460617,
            -0.008756883442401886
        ],
        "right_vector": [
            0.05088844150304794,
            -0.9987043142318726,
            4.953289680997841e-05
        ],
        "location": [
            2938.237060546875,
            4254.68896484375,
            360.7831115722656
        ],
        "rotation": [
            -0.002838134765625,
            -0.5017388463020325,
            -177.08302307128906
        ],
        "velocity": [
            -1.8829609155654907,
            -0.09165481477975845,
            -0.01384999230504036
        ],
        "speed": 1.8851902860506,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.4221296310424805,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.875251770019531,
                "transform": {
                    "location": {
                        "x": 2884.810546875,
                        "y": 4255.0234375,
                        "z": 360.41119384765625
                    },
                    "rotation": {
                        "roll": 0.0022236465010792017,
                        "pitch": 0.38360390067100525,
                        "yaw": 9.37907886505127
                    }
                },
                "velocity": {
                    "x": 7.77039098739624,
                    "y": 1.2797871828079224,
                    "z": 0.052509766072034836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.609655380249023,
                "transform": {
                    "location": {
                        "x": 2887.029296875,
                        "y": 4252.09228515625,
                        "z": 360.4206237792969
                    },
                    "rotation": {
                        "roll": 0.002245274605229497,
                        "pitch": 0.4185539782047272,
                        "yaw": 9.345276832580566
                    }
                },
                "velocity": {
                    "x": 8.495116233825684,
                    "y": 1.3984779119491577,
                    "z": 0.058511409908533096
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001578330993652,
                "transform": {
                    "location": {
                        "x": 2928.331787109375,
                        "y": 4258.78759765625,
                        "z": 360.71337890625
                    },
                    "rotation": {
                        "roll": -0.0009155262960121036,
                        "pitch": 0.41668251156806946,
                        "yaw": 9.17910099029541
                    }
                },
                "velocity": {
                    "x": 7.898759365081787,
                    "y": 1.2773444652557373,
                    "z": 0.0570213682949543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.043953895568848,
                "transform": {
                    "location": {
                        "x": 2927.01806640625,
                        "y": 4261.8681640625,
                        "z": 360.71881103515625
                    },
                    "rotation": {
                        "roll": -0.0006103474879637361,
                        "pitch": 0.4159926474094391,
                        "yaw": 9.193999290466309
                    }
                },
                "velocity": {
                    "x": 7.940409183502197,
                    "y": 1.2852482795715332,
                    "z": 0.0568866990506649
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044614791870117,
                "transform": {
                    "location": {
                        "x": 2970.2734375,
                        "y": 4268.8662109375,
                        "z": 361.0500793457031
                    },
                    "rotation": {
                        "roll": 0.00014403968816623092,
                        "pitch": 0.4967527985572815,
                        "yaw": 9.194754600524902
                    }
                },
                "velocity": {
                    "x": 7.940968990325928,
                    "y": 1.2853693962097168,
                    "z": 0.06827186793088913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01281452178955,
                "transform": {
                    "location": {
                        "x": 2969.863037109375,
                        "y": 4265.52001953125,
                        "z": 361.04620361328125
                    },
                    "rotation": {
                        "roll": 0.0020685449708253145,
                        "pitch": 0.49858328700065613,
                        "yaw": 9.357653617858887
                    }
                },
                "velocity": {
                    "x": 7.909651756286621,
                    "y": 1.2798125743865967,
                    "z": 0.06843944638967514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.350622177124023,
                "transform": {
                    "location": {
                        "x": 2973.964111328125,
                        "y": 4259.384765625,
                        "z": 361.070068359375
                    },
                    "rotation": {
                        "roll": -0.0028686472214758396,
                        "pitch": -0.6842961311340332,
                        "yaw": -170.810546875
                    }
                },
                "velocity": {
                    "x": -9.230080604553223,
                    "y": -1.4943665266036987,
                    "z": -0.08127758651971817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.914021492004395,
                "transform": {
                    "location": {
                        "x": 2963.72607421875,
                        "y": 4261.02001953125,
                        "z": 360.9888610839844
                    },
                    "rotation": {
                        "roll": 0.0015193959698081017,
                        "pitch": -0.5468180775642395,
                        "yaw": -170.80059814453125
                    }
                },
                "velocity": {
                    "x": -11.760315895080566,
                    "y": -1.9049804210662842,
                    "z": -0.09965617954730988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0657877922058105,
                "transform": {
                    "location": {
                        "x": 2954.000244140625,
                        "y": 4256.13671875,
                        "z": 360.91009521484375
                    },
                    "rotation": {
                        "roll": 0.003880864242091775,
                        "pitch": -0.47432929277420044,
                        "yaw": -171.5282440185547
                    }
                },
                "velocity": {
                    "x": -3.027240037918091,
                    "y": -0.4840851426124573,
                    "z": -0.023095902055501938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.608620643615723,
                "transform": {
                    "location": {
                        "x": 2939.044921875,
                        "y": 4257.02685546875,
                        "z": 360.7966003417969
                    },
                    "rotation": {
                        "roll": -0.00012207258259877563,
                        "pitch": -0.39993488788604736,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -12.446430206298828,
                    "y": -2.0137648582458496,
                    "z": -0.09195151180028915
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3012.651611328125,
                        "y": 4275.62744140625,
                        "z": 361.4481201171875
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3012.42236328125,
                        "y": 4272.2978515625,
                        "z": 361.4430847167969
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023771889391355217,
                "transform": {
                    "location": {
                        "x": 2891.187744140625,
                        "y": 4246.02734375,
                        "z": 360.45343017578125
                    },
                    "rotation": {
                        "roll": -0.0032043447718024254,
                        "pitch": -0.4031655490398407,
                        "yaw": -170.42996215820312
                    }
                },
                "velocity": {
                    "x": 0.00013870306429453194,
                    "y": -1.5751304090372287e-05,
                    "z": 0.0001924152602441609
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002475451328791678,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008429378503933549,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -1.0667740752978716e-05,
                    "y": -3.073659536312334e-05,
                    "z": -0.0002453977649565786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.484893798828125,
                "transform": {
                    "location": {
                        "x": 2910.84033203125,
                        "y": 4252.4609375,
                        "z": 360.5830383300781
                    },
                    "rotation": {
                        "roll": 0.0006836786051280797,
                        "pitch": -0.43163377046585083,
                        "yaw": -170.80934143066406
                    }
                },
                "velocity": {
                    "x": -9.362882614135742,
                    "y": -1.5149497985839844,
                    "z": -0.06748016923666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4447,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.185367226600647,
                "transform": {
                    "location": {
                        "x": 2889.80517578125,
                        "y": 4249.05810546875,
                        "z": 360.4344177246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6715646386146545,
                        "yaw": -170.9619140625
                    }
                },
                "velocity": {
                    "x": -1.1696585416793823,
                    "y": -0.19219067692756653,
                    "z": -0.007545060943812132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.999898374080658,
        "expert_target_speed": 0,
        "target_point": [
            48.3676999331464,
            6.2962872047333756
        ],
        "target_point_next": [
            90.1160866875043,
            10.886686816169027
        ]
    },
    "245": {
        "acceleration": [
            -1.8201923370361328,
            -0.1987689733505249,
            -0.0026061944663524628
        ],
        "angular_velocity": [
            0.001797533594071865,
            0.6536109447479248,
            0.6332147717475891
        ],
        "forward_vector": [
            -0.9986350536346436,
            -0.051781024783849716,
            -0.006844824180006981
        ],
        "right_vector": [
            0.05178295075893402,
            -0.9986583590507507,
            -0.00010405583452666178
        ],
        "location": [
            2937.739990234375,
            4254.66259765625,
            360.779052734375
        ],
        "rotation": [
            0.005962099879980087,
            -0.3921826183795929,
            -177.03176879882812
        ],
        "velocity": [
            -2.164600372314453,
            -0.12961682677268982,
            -0.014486693777143955
        ],
        "speed": 2.168477644248723,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.970081806182861,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.436697006225586,
                "transform": {
                    "location": {
                        "x": 2979.4130859375,
                        "y": 4263.65966796875,
                        "z": 361.4098815917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5154675245285034,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -1.90530526638031,
                    "y": -0.30830487608909607,
                    "z": -1.4873641729354858
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.202676773071289,
                "transform": {
                    "location": {
                        "x": 2886.80029296875,
                        "y": 4255.35107421875,
                        "z": 360.4247131347656
                    },
                    "rotation": {
                        "roll": 0.002137646311894059,
                        "pitch": 0.39407455921173096,
                        "yaw": 9.319135665893555
                    }
                },
                "velocity": {
                    "x": 8.09488296508789,
                    "y": 1.324278712272644,
                    "z": 0.055395372211933136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.158961296081543,
                "transform": {
                    "location": {
                        "x": 2889.09033203125,
                        "y": 4252.43115234375,
                        "z": 360.43511962890625
                    },
                    "rotation": {
                        "roll": 0.0023077211808413267,
                        "pitch": 0.3811586797237396,
                        "yaw": 9.275386810302734
                    }
                },
                "velocity": {
                    "x": 8.051947593688965,
                    "y": 1.3159315586090088,
                    "z": 0.05574467405676842
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.998502731323242,
                "transform": {
                    "location": {
                        "x": 2930.305908203125,
                        "y": 4259.10595703125,
                        "z": 360.7279968261719
                    },
                    "rotation": {
                        "roll": 0.0006644169916398823,
                        "pitch": 0.41883400082588196,
                        "yaw": 9.196037292480469
                    }
                },
                "velocity": {
                    "x": 7.895704746246338,
                    "y": 1.276971459388733,
                    "z": 0.056865692138671875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08036994934082,
                "transform": {
                    "location": {
                        "x": 2929.00732421875,
                        "y": 4262.189453125,
                        "z": 360.7334289550781
                    },
                    "rotation": {
                        "roll": -0.00012206623068777844,
                        "pitch": 0.42071232199668884,
                        "yaw": 9.190403938293457
                    }
                },
                "velocity": {
                    "x": 7.9764323234558105,
                    "y": 1.2905689477920532,
                    "z": 0.05776642635464668
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0777006149292,
                "transform": {
                    "location": {
                        "x": 2972.2626953125,
                        "y": 4269.18798828125,
                        "z": 361.06756591796875
                    },
                    "rotation": {
                        "roll": -0.0007629421888850629,
                        "pitch": 0.4973333775997162,
                        "yaw": 9.193941116333008
                    }
                },
                "velocity": {
                    "x": 7.973633289337158,
                    "y": 1.290591835975647,
                    "z": 0.06928083300590515
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078125,
                "transform": {
                    "location": {
                        "x": 2971.8486328125,
                        "y": 4265.84130859375,
                        "z": 361.0635986328125
                    },
                    "rotation": {
                        "roll": 0.0007282599690370262,
                        "pitch": 0.5004957318305969,
                        "yaw": 9.340703964233398
                    }
                },
                "velocity": {
                    "x": 7.973923683166504,
                    "y": 1.2914670705795288,
                    "z": 0.06896506994962692
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.751821517944336,
                "transform": {
                    "location": {
                        "x": 2971.9140625,
                        "y": 4259.05322265625,
                        "z": 361.0534973144531
                    },
                    "rotation": {
                        "roll": -0.0019226162694394588,
                        "pitch": -1.0642390251159668,
                        "yaw": -170.81149291992188
                    }
                },
                "velocity": {
                    "x": -7.651783466339111,
                    "y": -1.2395380735397339,
                    "z": -0.06704957783222198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.288559913635254,
                "transform": {
                    "location": {
                        "x": 2960.75927734375,
                        "y": 4260.53955078125,
                        "z": 360.96429443359375
                    },
                    "rotation": {
                        "roll": 0.0009105566423386335,
                        "pitch": -0.4418654143810272,
                        "yaw": -170.80503845214844
                    }
                },
                "velocity": {
                    "x": -12.130263328552246,
                    "y": -1.9635353088378906,
                    "z": -0.0997612327337265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.134708404541016,
                "transform": {
                    "location": {
                        "x": 2953.111572265625,
                        "y": 4255.99658203125,
                        "z": 360.90362548828125
                    },
                    "rotation": {
                        "roll": 0.004731450229883194,
                        "pitch": -0.540643572807312,
                        "yaw": -171.3155517578125
                    }
                },
                "velocity": {
                    "x": -4.082742214202881,
                    "y": -0.6527230143547058,
                    "z": -0.03138109669089317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.638540267944336,
                "transform": {
                    "location": {
                        "x": 2936.028564453125,
                        "y": 4256.53857421875,
                        "z": 360.774169921875
                    },
                    "rotation": {
                        "roll": -0.00125121942255646,
                        "pitch": -0.5649659037590027,
                        "yaw": -170.8021697998047
                    }
                },
                "velocity": {
                    "x": -11.488456726074219,
                    "y": -1.861075520515442,
                    "z": -0.08588658273220062
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4588,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3014.706298828125,
                        "y": 4275.95556640625,
                        "z": 361.4680480957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4587,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3014.478759765625,
                        "y": 4272.6259765625,
                        "z": 361.46112060546875
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008087815949693322,
                "transform": {
                    "location": {
                        "x": 2891.1875,
                        "y": 4246.02734375,
                        "z": 360.45330810546875
                    },
                    "rotation": {
                        "roll": -0.0026855438482016325,
                        "pitch": -0.39026331901550293,
                        "yaw": -170.42996215820312
                    }
                },
                "velocity": {
                    "x": 0.0008032516343519092,
                    "y": 6.169862172100693e-05,
                    "z": 7.14683483238332e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018261553486809134,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -6.163269063108601e-06,
                    "y": -2.03317486011656e-05,
                    "z": -0.00018137549341190606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.274984359741211,
                "transform": {
                    "location": {
                        "x": 2908.769287109375,
                        "y": 4252.12646484375,
                        "z": 360.5687561035156
                    },
                    "rotation": {
                        "roll": 0.0012925000628456473,
                        "pitch": -0.4705522060394287,
                        "yaw": -170.79251098632812
                    }
                },
                "velocity": {
                    "x": -7.1814165115356445,
                    "y": -1.1619023084640503,
                    "z": -0.05136732757091522
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9997792840003967,
        "expert_target_speed": 0,
        "target_point": [
            47.87554410690039,
            6.252425184267938
        ],
        "target_point_next": [
            89.6280204828477,
            10.805477090416034
        ]
    },
    "250": {
        "acceleration": [
            -2.971925735473633,
            -0.23492634296417236,
            -0.02727814018726349
        ],
        "angular_velocity": [
            -0.03161369636654854,
            0.5697906017303467,
            0.9626314640045166
        ],
        "forward_vector": [
            -0.9984524846076965,
            -0.05545024946331978,
            -0.004228578880429268
        ],
        "right_vector": [
            0.05545182526111603,
            -0.9984613060951233,
            -0.0002566413604654372
        ],
        "location": [
            2937.12158203125,
            4254.6240234375,
            360.7740478515625
        ],
        "rotation": [
            0.014704599045217037,
            -0.24228045344352722,
            -176.82127380371094
        ],
        "velocity": [
            -2.787152051925659,
            -0.18052265048027039,
            -0.019947675988078117
        ],
        "speed": 2.7929921209859927,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.415867328643799,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.957142949104309,
                "transform": {
                    "location": {
                        "x": 2978.93994140625,
                        "y": 4263.58154296875,
                        "z": 361.07830810546875
                    },
                    "rotation": {
                        "roll": -0.009216304868459702,
                        "pitch": -0.5172775387763977,
                        "yaw": -170.7228546142578
                    }
                },
                "velocity": {
                    "x": -1.9284125566482544,
                    "y": -0.3297141194343567,
                    "z": -0.05405449867248535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.006410598754883,
                "transform": {
                    "location": {
                        "x": 2888.802978515625,
                        "y": 4255.67822265625,
                        "z": 360.4385070800781
                    },
                    "rotation": {
                        "roll": 0.0011716309236362576,
                        "pitch": 0.38732635974884033,
                        "yaw": 9.265174865722656
                    }
                },
                "velocity": {
                    "x": 7.901986598968506,
                    "y": 1.287665843963623,
                    "z": 0.05604550242424011
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.967184066772461,
                "transform": {
                    "location": {
                        "x": 2891.073974609375,
                        "y": 4252.7548828125,
                        "z": 360.44879150390625
                    },
                    "rotation": {
                        "roll": 0.001413957099430263,
                        "pitch": 0.3808649778366089,
                        "yaw": 9.23302173614502
                    }
                },
                "velocity": {
                    "x": 7.863574504852295,
                    "y": 1.2795062065124512,
                    "z": 0.05554957315325737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003255844116211,
                "transform": {
                    "location": {
                        "x": 2932.2802734375,
                        "y": 4259.42578125,
                        "z": 360.7425842285156
                    },
                    "rotation": {
                        "roll": -0.00024413916980847716,
                        "pitch": 0.4218870997428894,
                        "yaw": 9.176769256591797
                    }
                },
                "velocity": {
                    "x": 7.900343418121338,
                    "y": 1.2780430316925049,
                    "z": 0.05728375166654587
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057808876037598,
                "transform": {
                    "location": {
                        "x": 2930.9990234375,
                        "y": 4262.51220703125,
                        "z": 360.748046875
                    },
                    "rotation": {
                        "roll": 0.0004555142659228295,
                        "pitch": 0.4279181659221649,
                        "yaw": 9.187394142150879
                    }
                },
                "velocity": {
                    "x": 7.954214096069336,
                    "y": 1.2865439653396606,
                    "z": 0.05972413718700409
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044346809387207,
                "transform": {
                    "location": {
                        "x": 2974.252197265625,
                        "y": 4269.5107421875,
                        "z": 361.08514404296875
                    },
                    "rotation": {
                        "roll": -0.0002441454562358558,
                        "pitch": 0.5072507858276367,
                        "yaw": 9.194107055664062
                    }
                },
                "velocity": {
                    "x": 7.940684795379639,
                    "y": 1.2852524518966675,
                    "z": 0.07188668847084045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011977195739746,
                "transform": {
                    "location": {
                        "x": 2973.833984375,
                        "y": 4266.1630859375,
                        "z": 361.0810852050781
                    },
                    "rotation": {
                        "roll": 0.00069324771175161,
                        "pitch": 0.5045870542526245,
                        "yaw": 9.362929344177246
                    }
                },
                "velocity": {
                    "x": 7.908597469329834,
                    "y": 1.2810314893722534,
                    "z": 0.06939353793859482
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.09909439086914,
                "transform": {
                    "location": {
                        "x": 2969.981201171875,
                        "y": 4258.740234375,
                        "z": 361.03515625
                    },
                    "rotation": {
                        "roll": -0.0008850143058225513,
                        "pitch": -0.6559439897537231,
                        "yaw": -170.80162048339844
                    }
                },
                "velocity": {
                    "x": -7.994678020477295,
                    "y": -1.2945103645324707,
                    "z": -0.06854971498250961
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.757994651794434,
                "transform": {
                    "location": {
                        "x": 2957.747802734375,
                        "y": 4260.05224609375,
                        "z": 360.93951416015625
                    },
                    "rotation": {
                        "roll": 0.001289151143282652,
                        "pitch": -0.5197773575782776,
                        "yaw": -170.81210327148438
                    }
                },
                "velocity": {
                    "x": -11.606687545776367,
                    "y": -1.877813696861267,
                    "z": -0.09517737478017807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.221538543701172,
                "transform": {
                    "location": {
                        "x": 2951.948486328125,
                        "y": 4255.81201171875,
                        "z": 360.8948059082031
                    },
                    "rotation": {
                        "roll": 0.004120407626032829,
                        "pitch": -0.5496457815170288,
                        "yaw": -171.13682556152344
                    }
                },
                "velocity": {
                    "x": -5.155837059020996,
                    "y": -0.8248991370201111,
                    "z": -0.03674519434571266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.388455390930176,
                "transform": {
                    "location": {
                        "x": 2933.229248046875,
                        "y": 4256.08544921875,
                        "z": 360.7533264160156
                    },
                    "rotation": {
                        "roll": -9.155403677141294e-05,
                        "pitch": -0.500550389289856,
                        "yaw": -170.80567932128906
                    }
                },
                "velocity": {
                    "x": -11.241825103759766,
                    "y": -1.8196672201156616,
                    "z": -0.08419688791036606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.04120488464832306,
                "transform": {
                    "location": {
                        "x": 2891.182861328125,
                        "y": 4246.02685546875,
                        "z": 360.4532775878906
                    },
                    "rotation": {
                        "roll": -0.002532963640987873,
                        "pitch": -0.386076420545578,
                        "yaw": -170.43051147460938
                    }
                },
                "velocity": {
                    "x": -0.040633659809827805,
                    "y": -0.0067952536046504974,
                    "z": -0.0007569026784040034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020383813534863293,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -1.2176111340522766e-05,
                    "y": -5.581183359026909e-06,
                    "z": 0.00020339759066700935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.925074100494385,
                "transform": {
                    "location": {
                        "x": 2907.049560546875,
                        "y": 4251.8486328125,
                        "z": 360.5561218261719
                    },
                    "rotation": {
                        "roll": 9.762633999343961e-05,
                        "pitch": -0.4233624339103699,
                        "yaw": -170.7664337158203
                    }
                },
                "velocity": {
                    "x": -6.835912704467773,
                    "y": -1.106598138809204,
                    "z": -0.04886430501937866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0003620386123657,
        "expert_target_speed": 0,
        "target_point": [
            47.278596825605305,
            6.0722637163290365
        ],
        "target_point_next": [
            89.04751941704086,
            10.471885374469815
        ]
    },
    "255": {
        "acceleration": [
            -3.9602184295654297,
            -0.08895009756088257,
            -0.010489188134670258
        ],
        "angular_velocity": [
            0.13764293491840363,
            0.5220563411712646,
            -0.1876806616783142
        ],
        "forward_vector": [
            -0.9983649253845215,
            -0.057129062712192535,
            -0.0019096123287454247
        ],
        "right_vector": [
            0.05713089555501938,
            -0.9983662366867065,
            -0.0009177349274978042
        ],
        "location": [
            2936.31396484375,
            4254.57568359375,
            360.7676086425781
        ],
        "rotation": [
            0.05258244276046753,
            -0.1094127967953682,
            -176.72496032714844
        ],
        "velocity": [
            -3.676100492477417,
            -0.20766790211200714,
            -0.02616027370095253
        ],
        "speed": 3.6819615408583926,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 4.717865467071533,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.146634578704834,
                "transform": {
                    "location": {
                        "x": 2978.455322265625,
                        "y": 4263.49853515625,
                        "z": 361.1042175292969
                    },
                    "rotation": {
                        "roll": -0.00531005347147584,
                        "pitch": -0.48336562514305115,
                        "yaw": -170.59024047851562
                    }
                },
                "velocity": {
                    "x": -2.114182472229004,
                    "y": -0.3628655672073364,
                    "z": 0.0812465101480484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059179306030273,
                "transform": {
                    "location": {
                        "x": 2890.778076171875,
                        "y": 4256.0,
                        "z": 360.4521789550781
                    },
                    "rotation": {
                        "roll": 0.00037632943713106215,
                        "pitch": 0.38944369554519653,
                        "yaw": 9.242074966430664
                    }
                },
                "velocity": {
                    "x": 7.954506874084473,
                    "y": 1.2935172319412231,
                    "z": 0.05491491034626961
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.934410095214844,
                "transform": {
                    "location": {
                        "x": 2893.0322265625,
                        "y": 4253.0732421875,
                        "z": 360.4622497558594
                    },
                    "rotation": {
                        "roll": -0.00045776317710988224,
                        "pitch": 0.3877907991409302,
                        "yaw": 9.2117338180542
                    }
                },
                "velocity": {
                    "x": 7.83182954788208,
                    "y": 1.2706269025802612,
                    "z": 0.05303262546658516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.004446029663086,
                "transform": {
                    "location": {
                        "x": 2934.255615234375,
                        "y": 4259.74560546875,
                        "z": 360.7572326660156
                    },
                    "rotation": {
                        "roll": -0.00012206958490423858,
                        "pitch": 0.4219280779361725,
                        "yaw": 9.19735336303711
                    }
                },
                "velocity": {
                    "x": 7.901587963104248,
                    "y": 1.2776979207992554,
                    "z": 0.059603918343782425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082589149475098,
                "transform": {
                    "location": {
                        "x": 2932.990966796875,
                        "y": 4262.83447265625,
                        "z": 360.7629089355469
                    },
                    "rotation": {
                        "roll": 0.00045060814591124654,
                        "pitch": 0.42561638355255127,
                        "yaw": 9.187102317810059
                    }
                },
                "velocity": {
                    "x": 7.97868013381958,
                    "y": 1.2904468774795532,
                    "z": 0.060501888394355774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0776948928833,
                "transform": {
                    "location": {
                        "x": 2976.241455078125,
                        "y": 4269.83251953125,
                        "z": 361.10302734375
                    },
                    "rotation": {
                        "roll": 0.00020747186499647796,
                        "pitch": 0.510078489780426,
                        "yaw": 9.193955421447754
                    }
                },
                "velocity": {
                    "x": 7.973602771759033,
                    "y": 1.290587306022644,
                    "z": 0.07206634432077408
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077882766723633,
                "transform": {
                    "location": {
                        "x": 2975.819580078125,
                        "y": 4266.484375,
                        "z": 361.09869384765625
                    },
                    "rotation": {
                        "roll": 0.0006478335126303136,
                        "pitch": 0.514518141746521,
                        "yaw": 9.329459190368652
                    }
                },
                "velocity": {
                    "x": 7.973783016204834,
                    "y": 1.290671467781067,
                    "z": 0.07177514582872391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.564168930053711,
                "transform": {
                    "location": {
                        "x": 2967.903076171875,
                        "y": 4258.40380859375,
                        "z": 361.0164489746094
                    },
                    "rotation": {
                        "roll": -0.001037602429278195,
                        "pitch": -0.4162590205669403,
                        "yaw": -170.8059844970703
                    }
                },
                "velocity": {
                    "x": -8.453493118286133,
                    "y": -1.3704742193222046,
                    "z": -0.07241805642843246
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.507415771484375,
                "transform": {
                    "location": {
                        "x": 2954.909912109375,
                        "y": 4259.59375,
                        "z": 360.9166259765625
                    },
                    "rotation": {
                        "roll": 0.0012830105843022466,
                        "pitch": -0.5003045201301575,
                        "yaw": -170.81167602539062
                    }
                },
                "velocity": {
                    "x": -11.359393119812012,
                    "y": -1.8375238180160522,
                    "z": -0.0911092758178711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.676588535308838,
                "transform": {
                    "location": {
                        "x": 2950.6259765625,
                        "y": 4255.6005859375,
                        "z": 360.88409423828125
                    },
                    "rotation": {
                        "roll": 0.0028632255271077156,
                        "pitch": -0.500188410282135,
                        "yaw": -171.0530548095703
                    }
                },
                "velocity": {
                    "x": -5.604397296905518,
                    "y": -0.9013094305992126,
                    "z": -0.0451040156185627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.215315818786621,
                "transform": {
                    "location": {
                        "x": 2930.3134765625,
                        "y": 4255.61376953125,
                        "z": 360.73175048828125
                    },
                    "rotation": {
                        "roll": -0.0011596712283790112,
                        "pitch": -0.30578070878982544,
                        "yaw": -170.81088256835938
                    }
                },
                "velocity": {
                    "x": -12.0582275390625,
                    "y": -1.9507089853286743,
                    "z": -0.08844614773988724
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7097933888435364,
                "transform": {
                    "location": {
                        "x": 2891.086181640625,
                        "y": 4246.0107421875,
                        "z": 360.4515075683594
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": -0.25803086161613464,
                        "yaw": -170.4268035888672
                    }
                },
                "velocity": {
                    "x": -0.7001365423202515,
                    "y": -0.11658724397420883,
                    "z": -0.004783544223755598
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.727919101715088,
                "transform": {
                    "location": {
                        "x": 2905.25048828125,
                        "y": 4251.5576171875,
                        "z": 360.5430908203125
                    },
                    "rotation": {
                        "roll": 0.0003713195910677314,
                        "pitch": -0.37902766466140747,
                        "yaw": -170.7835235595703
                    }
                },
                "velocity": {
                    "x": -7.628333568572998,
                    "y": -1.2354848384857178,
                    "z": -0.05322921648621559
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9989078044891357,
        "expert_target_speed": 0,
        "target_point": [
            46.47967680542114,
            5.990664583860726
        ],
        "target_point_next": [
            88.25593549774217,
            10.320072725441642
        ]
    },
    "260": {
        "acceleration": [
            -3.536348342895508,
            -0.3288033604621887,
            -0.0276116281747818
        ],
        "angular_velocity": [
            -0.166005939245224,
            0.06869318336248398,
            -0.02229113131761551
        ],
        "forward_vector": [
            -0.9984582662582397,
            -0.05550572648644447,
            -0.0004990100860595703
        ],
        "right_vector": [
            0.05550619587302208,
            -0.9984579086303711,
            -0.000981606892310083
        ],
        "location": [
            2935.2666015625,
            4254.5185546875,
            360.75970458984375
        ],
        "rotation": [
            0.056241948157548904,
            -0.02859117090702057,
            -176.818115234375
        ],
        "velocity": [
            -4.62938117980957,
            -0.2555291950702667,
            -0.03352164104580879
        ],
        "speed": 4.636428073151605,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 3.8814144134521484,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4814605712890625,
                "transform": {
                    "location": {
                        "x": 2977.775146484375,
                        "y": 4263.3818359375,
                        "z": 361.11065673828125
                    },
                    "rotation": {
                        "roll": -0.00869751162827015,
                        "pitch": -0.2966897487640381,
                        "yaw": -170.44664001464844
                    }
                },
                "velocity": {
                    "x": -3.430769681930542,
                    "y": -0.5918332934379578,
                    "z": -0.01101881917566061
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081426620483398,
                "transform": {
                    "location": {
                        "x": 2892.774658203125,
                        "y": 4256.32470703125,
                        "z": 360.4658508300781
                    },
                    "rotation": {
                        "roll": -0.0003356908855494112,
                        "pitch": 0.390502393245697,
                        "yaw": 9.225010871887207
                    }
                },
                "velocity": {
                    "x": 7.97690486907959,
                    "y": 1.294352412223816,
                    "z": 0.05569332838058472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.030754089355469,
                "transform": {
                    "location": {
                        "x": 2895.00341796875,
                        "y": 4253.39306640625,
                        "z": 360.47576904296875
                    },
                    "rotation": {
                        "roll": 0.00033036814420484006,
                        "pitch": 0.39311835169792175,
                        "yaw": 9.201040267944336
                    }
                },
                "velocity": {
                    "x": 7.927137851715088,
                    "y": 1.2847753763198853,
                    "z": 0.053379278630018234
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002902030944824,
                "transform": {
                    "location": {
                        "x": 2936.23095703125,
                        "y": 4260.06640625,
                        "z": 360.77197265625
                    },
                    "rotation": {
                        "roll": 7.710853424214292e-06,
                        "pitch": 0.4237244129180908,
                        "yaw": 9.173992156982422
                    }
                },
                "velocity": {
                    "x": 7.900057315826416,
                    "y": 1.2774696350097656,
                    "z": 0.06006670743227005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.051234245300293,
                "transform": {
                    "location": {
                        "x": 2934.981201171875,
                        "y": 4263.15625,
                        "z": 360.77789306640625
                    },
                    "rotation": {
                        "roll": 0.0009346309234388173,
                        "pitch": 0.42439377307891846,
                        "yaw": 9.186899185180664
                    }
                },
                "velocity": {
                    "x": 7.947733402252197,
                    "y": 1.2854206562042236,
                    "z": 0.06006130203604698
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043683052062988,
                "transform": {
                    "location": {
                        "x": 2978.23046875,
                        "y": 4270.154296875,
                        "z": 361.12109375
                    },
                    "rotation": {
                        "roll": 1.8593667846289463e-05,
                        "pitch": 0.5141493082046509,
                        "yaw": 9.193115234375
                    }
                },
                "velocity": {
                    "x": 7.940164566040039,
                    "y": 1.2842752933502197,
                    "z": 0.07250184565782547
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012290000915527,
                "transform": {
                    "location": {
                        "x": 2977.8046875,
                        "y": 4266.8056640625,
                        "z": 361.11663818359375
                    },
                    "rotation": {
                        "roll": 0.0005882835830561817,
                        "pitch": 0.5129676461219788,
                        "yaw": 9.365869522094727
                    }
                },
                "velocity": {
                    "x": 7.90875244140625,
                    "y": 1.2818702459335327,
                    "z": 0.07234050333499908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.08891773223877,
                "transform": {
                    "location": {
                        "x": 2965.820556640625,
                        "y": 4258.06689453125,
                        "z": 360.9992370605469
                    },
                    "rotation": {
                        "roll": 0.00019976899784523994,
                        "pitch": -0.553593635559082,
                        "yaw": -170.8011016845703
                    }
                },
                "velocity": {
                    "x": -7.984635829925537,
                    "y": -1.292875051498413,
                    "z": -0.06821595877408981
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.865038871765137,
                "transform": {
                    "location": {
                        "x": 2952.026123046875,
                        "y": 4259.126953125,
                        "z": 360.8937683105469
                    },
                    "rotation": {
                        "roll": 0.0011042481055483222,
                        "pitch": -0.4130556583404541,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -11.712451934814453,
                    "y": -1.8944848775863647,
                    "z": -0.09246337413787842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.645603179931641,
                "transform": {
                    "location": {
                        "x": 2949.16552734375,
                        "y": 4255.3662109375,
                        "z": 360.872802734375
                    },
                    "rotation": {
                        "roll": 0.0025154261384159327,
                        "pitch": -0.5165398716926575,
                        "yaw": -170.97500610351562
                    }
                },
                "velocity": {
                    "x": -6.5608367919921875,
                    "y": -1.0568405389785767,
                    "z": -0.05053197219967842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.393084526062012,
                "transform": {
                    "location": {
                        "x": 2927.37890625,
                        "y": 4255.13916015625,
                        "z": 360.7100830078125
                    },
                    "rotation": {
                        "roll": -0.00024413579376414418,
                        "pitch": -0.5159592628479004,
                        "yaw": -170.81089782714844
                    }
                },
                "velocity": {
                    "x": -11.246583938598633,
                    "y": -1.8193106651306152,
                    "z": -0.08254396170377731
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4297089576721191,
                "transform": {
                    "location": {
                        "x": 2890.8583984375,
                        "y": 4245.97265625,
                        "z": 360.4497985839844
                    },
                    "rotation": {
                        "roll": -0.0024108889047056437,
                        "pitch": -0.23633135855197906,
                        "yaw": -170.41952514648438
                    }
                },
                "velocity": {
                    "x": -1.410199761390686,
                    "y": -0.2351701557636261,
                    "z": -0.009978456422686577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003451867669355124,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -1.6769245121395215e-05,
                    "y": -5.4017823458707426e-06,
                    "z": 0.00034473687992431223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.88483715057373,
                "transform": {
                    "location": {
                        "x": 2903.251220703125,
                        "y": 4251.2333984375,
                        "z": 360.52886962890625
                    },
                    "rotation": {
                        "roll": 0.0004271985962986946,
                        "pitch": -0.35700032114982605,
                        "yaw": -170.80332946777344
                    }
                },
                "velocity": {
                    "x": -8.770408630371094,
                    "y": -1.4200177192687988,
                    "z": -0.06176827847957611
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.999364972114563,
        "expert_target_speed": 5.7403720563595835,
        "target_point": [
            45.42095484191374,
            6.067327207349855
        ],
        "target_point_next": [
            87.19011862940444,
            10.4646584068267
        ]
    },
    "265": {
        "acceleration": [
            0.9895038604736328,
            -0.015408992767333984,
            0.0033821910619735718
        ],
        "angular_velocity": [
            0.054097358137369156,
            -1.3255536556243896,
            0.3989943563938141
        ],
        "forward_vector": [
            -0.9983272552490234,
            -0.057784102857112885,
            -0.0019234406063333154
        ],
        "right_vector": [
            0.05778501182794571,
            -0.9983289837837219,
            -0.0004184128774795681
        ],
        "location": [
            2934.017822265625,
            4254.4453125,
            360.75115966796875
        ],
        "rotation": [
            0.023973336443305016,
            -0.11020509898662567,
            -176.68736267089844
        ],
        "velocity": [
            -5.104244709014893,
            -0.3115480840206146,
            -0.036851752549409866
        ],
        "speed": 5.11374385926431,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 3.0558269023895264,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2854.14111328125,
                        "y": 4249.97314453125,
                        "z": 360.5810852050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4336486756801605,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2856.841552734375,
                        "y": 4247.11767578125,
                        "z": 360.3357238769531
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.963327407836914,
                "transform": {
                    "location": {
                        "x": 2976.72314453125,
                        "y": 4263.19970703125,
                        "z": 361.1033630371094
                    },
                    "rotation": {
                        "roll": -0.010406493209302425,
                        "pitch": -0.2198432832956314,
                        "yaw": -170.29791259765625
                    }
                },
                "velocity": {
                    "x": -4.890146255493164,
                    "y": -0.8481833338737488,
                    "z": -0.04086429625749588
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051273345947266,
                "transform": {
                    "location": {
                        "x": 2894.763671875,
                        "y": 4256.6474609375,
                        "z": 360.4796142578125
                    },
                    "rotation": {
                        "roll": 0.002048263791948557,
                        "pitch": 0.39035895466804504,
                        "yaw": 9.21251106262207
                    }
                },
                "velocity": {
                    "x": 7.947225093841553,
                    "y": 1.2889946699142456,
                    "z": 0.055757179856300354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003771781921387,
                "transform": {
                    "location": {
                        "x": 2896.982666015625,
                        "y": 4253.71435546875,
                        "z": 360.4894104003906
                    },
                    "rotation": {
                        "roll": 0.001067872392013669,
                        "pitch": 0.39322763681411743,
                        "yaw": 9.1969633102417
                    }
                },
                "velocity": {
                    "x": 7.900627136230469,
                    "y": 1.279680848121643,
                    "z": 0.05346274375915527
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002632141113281,
                "transform": {
                    "location": {
                        "x": 2938.205810546875,
                        "y": 4260.38623046875,
                        "z": 360.7867736816406
                    },
                    "rotation": {
                        "roll": 0.00013575036427937448,
                        "pitch": 0.4229526221752167,
                        "yaw": 9.197260856628418
                    }
                },
                "velocity": {
                    "x": 7.899621486663818,
                    "y": 1.278456449508667,
                    "z": 0.060366056859493256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.083979606628418,
                "transform": {
                    "location": {
                        "x": 2936.972412109375,
                        "y": 4263.478515625,
                        "z": 360.7926330566406
                    },
                    "rotation": {
                        "roll": 0.0008331561693921685,
                        "pitch": 0.4276790916919708,
                        "yaw": 9.186894416809082
                    }
                },
                "velocity": {
                    "x": 7.980057716369629,
                    "y": 1.2906415462493896,
                    "z": 0.06044191122055054
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07811450958252,
                "transform": {
                    "location": {
                        "x": 2980.22021484375,
                        "y": 4270.4755859375,
                        "z": 361.13922119140625
                    },
                    "rotation": {
                        "roll": -0.00030517677078023553,
                        "pitch": 0.5234519839286804,
                        "yaw": 9.185128211975098
                    }
                },
                "velocity": {
                    "x": 7.974210739135742,
                    "y": 1.28939950466156,
                    "z": 0.07310422509908676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077902793884277,
                "transform": {
                    "location": {
                        "x": 2979.79052734375,
                        "y": 4267.126953125,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 0.0011775632156059146,
                        "pitch": 0.5243057608604431,
                        "yaw": 9.334818840026855
                    }
                },
                "velocity": {
                    "x": 7.974122524261475,
                    "y": 1.2886431217193604,
                    "z": 0.0727301761507988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.976373672485352,
                "transform": {
                    "location": {
                        "x": 2963.96142578125,
                        "y": 4257.765625,
                        "z": 360.9845275878906
                    },
                    "rotation": {
                        "roll": 0.0003899193543475121,
                        "pitch": -0.8030389547348022,
                        "yaw": -170.8133544921875
                    }
                },
                "velocity": {
                    "x": -6.886270046234131,
                    "y": -1.1160991191864014,
                    "z": -0.0582914724946022
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.079588890075684,
                "transform": {
                    "location": {
                        "x": 2949.032958984375,
                        "y": 4258.642578125,
                        "z": 360.8705139160156
                    },
                    "rotation": {
                        "roll": 0.0015877288533374667,
                        "pitch": -0.4072226881980896,
                        "yaw": -170.80633544921875
                    }
                },
                "velocity": {
                    "x": -11.924076080322266,
                    "y": -1.9298778772354126,
                    "z": -0.09191976487636566
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.696787357330322,
                "transform": {
                    "location": {
                        "x": 2947.4541015625,
                        "y": 4255.09130859375,
                        "z": 360.859375
                    },
                    "rotation": {
                        "roll": 0.0007197681115940213,
                        "pitch": -0.4637766480445862,
                        "yaw": -170.8939666748047
                    }
                },
                "velocity": {
                    "x": -6.611315727233887,
                    "y": -1.0652775764465332,
                    "z": -0.051450781524181366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.984843254089355,
                "transform": {
                    "location": {
                        "x": 2924.6083984375,
                        "y": 4254.69091796875,
                        "z": 360.6897888183594
                    },
                    "rotation": {
                        "roll": 0.00015045014151837677,
                        "pitch": -0.5070800185203552,
                        "yaw": -170.81077575683594
                    }
                },
                "velocity": {
                    "x": -10.843579292297363,
                    "y": -1.7541944980621338,
                    "z": -0.07979312539100647
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3163232803344727,
                "transform": {
                    "location": {
                        "x": 2890.37060546875,
                        "y": 4245.89111328125,
                        "z": 360.44561767578125
                    },
                    "rotation": {
                        "roll": -0.0008239749004133046,
                        "pitch": -0.1406882256269455,
                        "yaw": -170.44757080078125
                    }
                },
                "velocity": {
                    "x": -2.2848803997039795,
                    "y": -0.38007646799087524,
                    "z": -0.014743871055543423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00029284865013323724,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -2.641744868014939e-05,
                    "y": -1.1430047379690222e-05,
                    "z": 0.0002914306242018938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.81935977935791,
                "transform": {
                    "location": {
                        "x": 2900.925048828125,
                        "y": 4250.85693359375,
                        "z": 360.51263427734375
                    },
                    "rotation": {
                        "roll": 0.0002670896064955741,
                        "pitch": -0.35809314250946045,
                        "yaw": -170.81219482421875
                    }
                },
                "velocity": {
                    "x": -9.693036079406738,
                    "y": -1.5685606002807617,
                    "z": -0.06711535155773163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9997145533561707,
        "expert_target_speed": 6.181432270941163,
        "target_point": [
            44.18375810661424,
            5.962694445435128
        ],
        "target_point_next": [
            85.96284845191218,
            10.264691086943465
        ]
    },
    "270": {
        "acceleration": [
            -0.3382396697998047,
            0.05787789821624756,
            0.00043660402297973633
        ],
        "angular_velocity": [
            0.1174767017364502,
            -0.25866299867630005,
            0.2559397220611572
        ],
        "forward_vector": [
            -0.9981905817985535,
            -0.059852439910173416,
            -0.005769458599388599
        ],
        "right_vector": [
            0.0598568432033062,
            -0.9982067942619324,
            -0.0005936489324085414
        ],
        "location": [
            2932.76171875,
            4254.36767578125,
            360.74273681640625
        ],
        "rotation": [
            0.034014150500297546,
            -0.33056747913360596,
            -176.568603515625
        ],
        "velocity": [
            -5.053654193878174,
            -0.30954641103744507,
            -0.03704015165567398
        ],
        "speed": 5.063125486484472,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 2.591155529022217,
        "front_vehicle_info": {
            "id": 4440,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2856.16796875,
                        "y": 4250.30126953125,
                        "z": 360.2313232421875
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2858.897216796875,
                        "y": 4247.44970703125,
                        "z": 360.29937744140625
                    },
                    "rotation": {
                        "roll": 6.670286545329418e-09,
                        "pitch": 0.42088305950164795,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.8065505027771,
                "transform": {
                    "location": {
                        "x": 2975.379638671875,
                        "y": 4262.96728515625,
                        "z": 361.0918273925781
                    },
                    "rotation": {
                        "roll": 0.008764917962253094,
                        "pitch": -0.3059651255607605,
                        "yaw": -170.39866638183594
                    }
                },
                "velocity": {
                    "x": -5.724429607391357,
                    "y": -0.9718073010444641,
                    "z": -0.05026531219482422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.054984092712402,
                "transform": {
                    "location": {
                        "x": 2896.750244140625,
                        "y": 4256.96923828125,
                        "z": 360.4932861328125
                    },
                    "rotation": {
                        "roll": 0.0002355836477363482,
                        "pitch": 0.39175912737846375,
                        "yaw": 9.208106994628906
                    }
                },
                "velocity": {
                    "x": 7.950985431671143,
                    "y": 1.2889766693115234,
                    "z": 0.05597548186779022
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01816177368164,
                "transform": {
                    "location": {
                        "x": 2898.959716796875,
                        "y": 4254.0341796875,
                        "z": 360.5030822753906
                    },
                    "rotation": {
                        "roll": 0.00014375084720086306,
                        "pitch": 0.39326179027557373,
                        "yaw": 9.194576263427734
                    }
                },
                "velocity": {
                    "x": 7.91482400894165,
                    "y": 1.2819541692733765,
                    "z": 0.05547545477747917
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002930641174316,
                "transform": {
                    "location": {
                        "x": 2940.1806640625,
                        "y": 4260.70654296875,
                        "z": 360.801513671875
                    },
                    "rotation": {
                        "roll": 0.0005668076337315142,
                        "pitch": 0.4218802750110626,
                        "yaw": 9.175385475158691
                    }
                },
                "velocity": {
                    "x": 7.900181770324707,
                    "y": 1.2768794298171997,
                    "z": 0.06001872941851616
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053193092346191,
                "transform": {
                    "location": {
                        "x": 2938.963623046875,
                        "y": 4263.80126953125,
                        "z": 360.8075256347656
                    },
                    "rotation": {
                        "roll": 0.0008639561710879207,
                        "pitch": 0.4270438849925995,
                        "yaw": 9.18680477142334
                    }
                },
                "velocity": {
                    "x": 7.949674606323242,
                    "y": 1.2856814861297607,
                    "z": 0.0601058267056942
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044336318969727,
                "transform": {
                    "location": {
                        "x": 2982.209228515625,
                        "y": 4270.796875,
                        "z": 361.1576232910156
                    },
                    "rotation": {
                        "roll": -0.0006713841576129198,
                        "pitch": 0.5226119160652161,
                        "yaw": 9.18691635131836
                    }
                },
                "velocity": {
                    "x": 7.940824508666992,
                    "y": 1.2842849493026733,
                    "z": 0.07256191223859787
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012873649597168,
                "transform": {
                    "location": {
                        "x": 2981.775634765625,
                        "y": 4267.4482421875,
                        "z": 361.1529541015625
                    },
                    "rotation": {
                        "roll": 0.00012093078839825466,
                        "pitch": 0.5258767008781433,
                        "yaw": 9.363969802856445
                    }
                },
                "velocity": {
                    "x": 7.909235000610352,
                    "y": 1.282499074935913,
                    "z": 0.07301971316337585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.766567230224609,
                "transform": {
                    "location": {
                        "x": 2962.428955078125,
                        "y": 4257.51806640625,
                        "z": 360.9723205566406
                    },
                    "rotation": {
                        "roll": 0.0008200561278499663,
                        "pitch": -0.9525381326675415,
                        "yaw": -170.81248474121094
                    }
                },
                "velocity": {
                    "x": -5.692173957824707,
                    "y": -0.9220408201217651,
                    "z": -0.047924209386110306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.638833999633789,
                "transform": {
                    "location": {
                        "x": 2946.212158203125,
                        "y": 4258.185546875,
                        "z": 360.8486328125
                    },
                    "rotation": {
                        "roll": -6.104135536588728e-05,
                        "pitch": -0.587368905544281,
                        "yaw": -170.81028747558594
                    }
                },
                "velocity": {
                    "x": -10.501901626586914,
                    "y": -1.6995707750320435,
                    "z": -0.07940225303173065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.304713726043701,
                "transform": {
                    "location": {
                        "x": 2945.86767578125,
                        "y": 4254.8359375,
                        "z": 360.8467102050781
                    },
                    "rotation": {
                        "roll": 0.0003452693927101791,
                        "pitch": -0.3907414376735687,
                        "yaw": -170.8575897216797
                    }
                },
                "velocity": {
                    "x": -6.223764896392822,
                    "y": -1.0059044361114502,
                    "z": -0.048186033964157104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.876792907714844,
                "transform": {
                    "location": {
                        "x": 2922.03271484375,
                        "y": 4254.2744140625,
                        "z": 360.67095947265625
                    },
                    "rotation": {
                        "roll": -0.000427243416197598,
                        "pitch": -0.5959544777870178,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -9.749682426452637,
                    "y": -1.5778743028640747,
                    "z": -0.07103119790554047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.39432084560394287,
                "transform": {
                    "location": {
                        "x": 2890.184326171875,
                        "y": 4245.85986328125,
                        "z": 360.4499206542969
                    },
                    "rotation": {
                        "roll": -0.003936768975108862,
                        "pitch": -0.8158591985702515,
                        "yaw": -170.4710693359375
                    }
                },
                "velocity": {
                    "x": -0.38894927501678467,
                    "y": -0.06480163335800171,
                    "z": -0.002855186350643635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004333967808634043,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -2.57413830695441e-05,
                    "y": -2.43344056798378e-05,
                    "z": 0.0004319467698223889
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.481505393981934,
                "transform": {
                    "location": {
                        "x": 2898.416259765625,
                        "y": 4250.451171875,
                        "z": 360.49530029296875
                    },
                    "rotation": {
                        "roll": 4.928309499518946e-05,
                        "pitch": -0.3677646815776825,
                        "yaw": -170.8187255859375
                    }
                },
                "velocity": {
                    "x": -10.346888542175293,
                    "y": -1.6729806661605835,
                    "z": -0.07059584558010101
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9985525012016296,
        "expert_target_speed": 0,
        "target_point": [
            42.937524350728005,
            5.868781820942262
        ],
        "target_point_next": [
            84.72544216328706,
            10.084169119272815
        ]
    },
    "275": {
        "acceleration": [
            -3.9893150329589844,
            -0.16943395137786865,
            -0.03092162311077118
        ],
        "angular_velocity": [
            -0.05624827370047569,
            1.214974284172058,
            -0.4851391315460205
        ],
        "forward_vector": [
            -0.998273491859436,
            -0.05870234966278076,
            -0.002014396945014596
        ],
        "right_vector": [
            0.05870452895760536,
            -0.9982748627662659,
            -0.0010391788091510534
        ],
        "location": [
            2931.404541015625,
            4254.2880859375,
            360.7320251464844
        ],
        "rotation": [
            0.05954069644212723,
            -0.1154165267944336,
            -176.63465881347656
        ],
        "velocity": [
            -6.081497669219971,
            -0.34814348816871643,
            -0.04454606771469116
        ],
        "speed": 6.091454488796762,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.703052520751953,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2919.708251953125,
                4253.89794921875,
                360.6541748046875
            ],
            "velocity": [
                -9.257049560546875,
                -1.4982143640518188,
                -0.06916598230600357
            ],
            "speed_kmh": 33.75993871841508,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2858.224365234375,
                        "y": 4250.63330078125,
                        "z": 360.2396545410156
                    },
                    "rotation": {
                        "roll": 6.670286545329418e-09,
                        "pitch": 0.42088305950164795,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2860.952392578125,
                        "y": 4247.7822265625,
                        "z": 360.26300048828125
                    },
                    "rotation": {
                        "roll": 6.670286545329418e-09,
                        "pitch": 0.42088305950164795,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.7083821296691895,
                "transform": {
                    "location": {
                        "x": 2973.869873046875,
                        "y": 4262.712890625,
                        "z": 361.0783996582031
                    },
                    "rotation": {
                        "roll": 0.006295034196227789,
                        "pitch": -0.33551254868507385,
                        "yaw": -170.4701385498047
                    }
                },
                "velocity": {
                    "x": -6.615082263946533,
                    "y": -1.113412857055664,
                    "z": -0.05823886767029762
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081679344177246,
                "transform": {
                    "location": {
                        "x": 2898.74267578125,
                        "y": 4257.29248046875,
                        "z": 360.50714111328125
                    },
                    "rotation": {
                        "roll": -0.0010070798452943563,
                        "pitch": 0.3941565454006195,
                        "yaw": 9.199091911315918
                    }
                },
                "velocity": {
                    "x": 7.977694034576416,
                    "y": 1.291039228439331,
                    "z": 0.056169070303440094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.98276424407959,
                "transform": {
                    "location": {
                        "x": 2900.93359375,
                        "y": 4254.353515625,
                        "z": 360.5168151855469
                    },
                    "rotation": {
                        "roll": 0.0004290748620405793,
                        "pitch": 0.39604848623275757,
                        "yaw": 9.192955017089844
                    }
                },
                "velocity": {
                    "x": 7.8800368309021,
                    "y": 1.2752960920333862,
                    "z": 0.05618803948163986
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002979278564453,
                "transform": {
                    "location": {
                        "x": 2942.15576171875,
                        "y": 4261.0244140625,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": 0.0006799860275350511,
                        "pitch": 0.424892395734787,
                        "yaw": 9.19015884399414
                    }
                },
                "velocity": {
                    "x": 7.90024995803833,
                    "y": 1.2767369747161865,
                    "z": 0.06059534102678299
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082640647888184,
                "transform": {
                    "location": {
                        "x": 2940.95458984375,
                        "y": 4264.123046875,
                        "z": 360.82244873046875
                    },
                    "rotation": {
                        "roll": -0.0005493185017257929,
                        "pitch": 0.4276176393032074,
                        "yaw": 9.185538291931152
                    }
                },
                "velocity": {
                    "x": 7.978623390197754,
                    "y": 1.2911120653152466,
                    "z": 0.06061895191669464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077093124389648,
                "transform": {
                    "location": {
                        "x": 2984.19873046875,
                        "y": 4271.1181640625,
                        "z": 361.1759948730469
                    },
                    "rotation": {
                        "roll": -0.0009765612776391208,
                        "pitch": 0.5252005457878113,
                        "yaw": 9.191972732543945
                    }
                },
                "velocity": {
                    "x": 7.973013877868652,
                    "y": 1.2904019355773926,
                    "z": 0.07307931780815125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076911926269531,
                "transform": {
                    "location": {
                        "x": 2983.76123046875,
                        "y": 4267.76904296875,
                        "z": 361.1713562011719
                    },
                    "rotation": {
                        "roll": 0.001993236131966114,
                        "pitch": 0.528922975063324,
                        "yaw": 9.34727668762207
                    }
                },
                "velocity": {
                    "x": 7.9728102684021,
                    "y": 1.290531873703003,
                    "z": 0.07303430140018463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.639078140258789,
                "transform": {
                    "location": {
                        "x": 2961.02783203125,
                        "y": 4257.291015625,
                        "z": 360.9597473144531
                    },
                    "rotation": {
                        "roll": 0.00041535880882292986,
                        "pitch": -0.7033660411834717,
                        "yaw": -170.83047485351562
                    }
                },
                "velocity": {
                    "x": -5.566539764404297,
                    "y": -0.9004664421081543,
                    "z": -0.04470792040228844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.337726593017578,
                "transform": {
                    "location": {
                        "x": 2943.908447265625,
                        "y": 4257.81298828125,
                        "z": 360.83099365234375
                    },
                    "rotation": {
                        "roll": 0.001808324595913291,
                        "pitch": -0.7432816624641418,
                        "yaw": -170.82302856445312
                    }
                },
                "velocity": {
                    "x": -8.230546951293945,
                    "y": -1.3310966491699219,
                    "z": -0.0628378838300705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5658481121063232,
                "transform": {
                    "location": {
                        "x": 2944.523681640625,
                        "y": 4254.619140625,
                        "z": 360.8348693847656
                    },
                    "rotation": {
                        "roll": -0.0002441409742459655,
                        "pitch": -0.21639403700828552,
                        "yaw": -170.83860778808594
                    }
                },
                "velocity": {
                    "x": -3.520069122314453,
                    "y": -0.5688444972038269,
                    "z": -0.028339505195617676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.377760887145996,
                "transform": {
                    "location": {
                        "x": 2919.708251953125,
                        "y": 4253.89794921875,
                        "z": 360.6541748046875
                    },
                    "rotation": {
                        "roll": 0.00010135003685718402,
                        "pitch": -0.5364976525306702,
                        "yaw": -170.8060760498047
                    }
                },
                "velocity": {
                    "x": -9.257049560546875,
                    "y": -1.4982143640518188,
                    "z": -0.06916598230600357
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3745425939559937,
                "transform": {
                    "location": {
                        "x": 2889.927978515625,
                        "y": 4245.81689453125,
                        "z": 360.4438171386719
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.2787468433380127,
                        "yaw": -170.5177764892578
                    }
                },
                "velocity": {
                    "x": -1.3559424877166748,
                    "y": -0.22515980899333954,
                    "z": -0.00951129850000143
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.48511382273864e-05,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -1.3946815670351498e-05,
                    "y": 2.554589855208178e-06,
                    "z": 4.255097155692056e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.166292190551758,
                "transform": {
                    "location": {
                        "x": 2895.7412109375,
                        "y": 4250.0185546875,
                        "z": 360.4768371582031
                    },
                    "rotation": {
                        "roll": 0.00022634470951743424,
                        "pitch": -0.3680720329284668,
                        "yaw": -170.8218994140625
                    }
                },
                "velocity": {
                    "x": -11.022990226745605,
                    "y": -1.7815510034561157,
                    "z": -0.07641595602035522
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0009454488754272,
        "expert_target_speed": 7.053011201751321,
        "target_point": [
            41.57121971878745,
            5.918501769043512
        ],
        "target_point_next": [
            83.35424944730335,
            10.182067400070189
        ]
    },
    "280": {
        "acceleration": [
            -1.9050216674804688,
            -0.055204033851623535,
            -0.002074912190437317
        ],
        "angular_velocity": [
            -0.031217997893691063,
            -0.3391053080558777,
            -0.522057056427002
        ],
        "forward_vector": [
            -0.9984012246131897,
            -0.05651167035102844,
            -0.0011787411058321595
        ],
        "right_vector": [
            0.0565129853785038,
            -0.9984012842178345,
            -0.0011107157915830612
        ],
        "location": [
            2929.779296875,
            4254.1962890625,
            360.71990966796875
        ],
        "rotation": [
            0.06363938748836517,
            -0.06753690540790558,
            -176.76039123535156
        ],
        "velocity": [
            -6.803645610809326,
            -0.37550222873687744,
            -0.04892382398247719
        ],
        "speed": 6.813999964871688,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.480030059814453,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2917.318359375,
                4253.51123046875,
                360.6368713378906
            ],
            "velocity": [
                -9.742230415344238,
                -1.57682204246521,
                -0.06895023584365845
            ],
            "speed_kmh": 35.529314552796244,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2860.280517578125,
                        "y": 4250.96630859375,
                        "z": 360.24615478515625
                    },
                    "rotation": {
                        "roll": 6.670286545329418e-09,
                        "pitch": 0.42088305950164795,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.748875617980957,
                "transform": {
                    "location": {
                        "x": 2862.798095703125,
                        "y": 4248.0830078125,
                        "z": 360.24951171875
                    },
                    "rotation": {
                        "roll": -0.0012207046383991838,
                        "pitch": 0.36730706691741943,
                        "yaw": 9.241349220275879
                    }
                },
                "velocity": {
                    "x": 6.656832218170166,
                    "y": 1.1107730865478516,
                    "z": 0.009292821399867535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.809919357299805,
                "transform": {
                    "location": {
                        "x": 2971.911376953125,
                        "y": 4262.38330078125,
                        "z": 361.0611267089844
                    },
                    "rotation": {
                        "roll": -9.155159932561219e-05,
                        "pitch": -0.1253339648246765,
                        "yaw": -170.44940185546875
                    }
                },
                "velocity": {
                    "x": -8.687636375427246,
                    "y": -1.4608017206192017,
                    "z": -0.075523242354393
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.038405418395996,
                "transform": {
                    "location": {
                        "x": 2900.73046875,
                        "y": 4257.61376953125,
                        "z": 360.52099609375
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.39567965269088745,
                        "yaw": 9.19237232208252
                    }
                },
                "velocity": {
                    "x": 7.9349799156188965,
                    "y": 1.2841100692749023,
                    "z": 0.05575963854789734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019725799560547,
                "transform": {
                    "location": {
                        "x": 2902.908447265625,
                        "y": 4254.6728515625,
                        "z": 360.5306701660156
                    },
                    "rotation": {
                        "roll": 0.0003279169031884521,
                        "pitch": 0.3958026170730591,
                        "yaw": 9.191476821899414
                    }
                },
                "velocity": {
                    "x": 7.916541576385498,
                    "y": 1.2810951471328735,
                    "z": 0.05631484091281891
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002739906311035,
                "transform": {
                    "location": {
                        "x": 2944.130859375,
                        "y": 4261.34375,
                        "z": 360.8311767578125
                    },
                    "rotation": {
                        "roll": -0.000579831947106868,
                        "pitch": 0.4299398958683014,
                        "yaw": 9.169143676757812
                    }
                },
                "velocity": {
                    "x": 7.899963855743408,
                    "y": 1.2770243883132935,
                    "z": 0.06017220392823219
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053417205810547,
                "transform": {
                    "location": {
                        "x": 2942.945556640625,
                        "y": 4264.4453125,
                        "z": 360.83740234375
                    },
                    "rotation": {
                        "roll": -0.0010986310662701726,
                        "pitch": 0.4323168098926544,
                        "yaw": 9.187544822692871
                    }
                },
                "velocity": {
                    "x": 7.949883937835693,
                    "y": 1.2857861518859863,
                    "z": 0.060175321996212006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044458389282227,
                "transform": {
                    "location": {
                        "x": 2986.187744140625,
                        "y": 4271.4404296875,
                        "z": 361.19451904296875
                    },
                    "rotation": {
                        "roll": 0.00016065302770584822,
                        "pitch": 0.5292576551437378,
                        "yaw": 9.199347496032715
                    }
                },
                "velocity": {
                    "x": 7.940618515014648,
                    "y": 1.2862805128097534,
                    "z": 0.07327274233102798
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012857437133789,
                "transform": {
                    "location": {
                        "x": 2985.74609375,
                        "y": 4268.09033203125,
                        "z": 361.1897888183594
                    },
                    "rotation": {
                        "roll": 0.0012921385932713747,
                        "pitch": 0.5320990085601807,
                        "yaw": 9.347488403320312
                    }
                },
                "velocity": {
                    "x": 7.9094438552856445,
                    "y": 1.2811558246612549,
                    "z": 0.0723172202706337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7949819564819336,
                "transform": {
                    "location": {
                        "x": 2959.872802734375,
                        "y": 4257.103515625,
                        "z": 360.95147705078125
                    },
                    "rotation": {
                        "roll": 0.0007102988311089575,
                        "pitch": -1.0789785385131836,
                        "yaw": -170.78509521484375
                    }
                },
                "velocity": {
                    "x": -3.7461020946502686,
                    "y": -0.6063060164451599,
                    "z": -0.03162529692053795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.707309246063232,
                "transform": {
                    "location": {
                        "x": 2942.07177734375,
                        "y": 4257.51611328125,
                        "z": 360.8172607421875
                    },
                    "rotation": {
                        "roll": 0.0006895501865074039,
                        "pitch": -0.6984824538230896,
                        "yaw": -170.82958984375
                    }
                },
                "velocity": {
                    "x": -6.62133264541626,
                    "y": -1.0693055391311646,
                    "z": -0.05037757754325867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.39243364334106445,
                "transform": {
                    "location": {
                        "x": 2944.228271484375,
                        "y": 4254.57177734375,
                        "z": 360.8315124511719
                    },
                    "rotation": {
                        "roll": -0.0013732904335483909,
                        "pitch": -0.0713823065161705,
                        "yaw": -170.802490234375
                    }
                },
                "velocity": {
                    "x": -0.3873752951622009,
                    "y": -0.06277693808078766,
                    "z": -0.0018944167532026768
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.869254112243652,
                "transform": {
                    "location": {
                        "x": 2917.318359375,
                        "y": 4253.51123046875,
                        "z": 360.6368713378906
                    },
                    "rotation": {
                        "roll": 0.0006007860065437853,
                        "pitch": -0.3750934898853302,
                        "yaw": -170.80621337890625
                    }
                },
                "velocity": {
                    "x": -9.742230415344238,
                    "y": -1.57682204246521,
                    "z": -0.06895023584365845
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.537989616394043,
                "transform": {
                    "location": {
                        "x": 2889.4580078125,
                        "y": 4245.73876953125,
                        "z": 360.43902587890625
                    },
                    "rotation": {
                        "roll": -0.002288819057866931,
                        "pitch": -0.08550713211297989,
                        "yaw": -170.4994354248047
                    }
                },
                "velocity": {
                    "x": -2.5036063194274902,
                    "y": -0.4159797430038452,
                    "z": -0.01754673942923546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.819760084094014e-05,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -2.0164921807008795e-05,
                    "y": -1.018556758936029e-05,
                    "z": -1.687408803263679e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.813687324523926,
                "transform": {
                    "location": {
                        "x": 2892.90234375,
                        "y": 4249.56005859375,
                        "z": 360.4572448730469
                    },
                    "rotation": {
                        "roll": -0.0014953583013266325,
                        "pitch": -0.3663645088672638,
                        "yaw": -170.82203674316406
                    }
                },
                "velocity": {
                    "x": -11.662088394165039,
                    "y": -1.884796380996704,
                    "z": -0.08038344234228134
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9816299676895142,
        "expert_target_speed": 7.667057304399091,
        "target_point": [
            39.93029755496274,
            6.009906831089803
        ],
        "target_point_next": [
            81.70387070174385,
            10.365150995846278
        ]
    },
    "285": {
        "acceleration": [
            -0.2964210510253906,
            -0.21437466144561768,
            -0.005730614066123962
        ],
        "angular_velocity": [
            -0.1480027437210083,
            -0.721835196018219,
            0.2983810007572174
        ],
        "forward_vector": [
            -0.9984799027442932,
            -0.05500524491071701,
            -0.0035090371966362
        ],
        "right_vector": [
            0.055008601397275925,
            -0.9984855055809021,
            -0.000866078888066113
        ],
        "location": [
            2928.03076171875,
            4254.1005859375,
            360.707763671875
        ],
        "rotation": [
            0.049622975289821625,
            -0.2010534405708313,
            -176.84681701660156
        ],
        "velocity": [
            -7.078873157501221,
            -0.3968573808670044,
            -0.05041716992855072
        ],
        "speed": 7.089988784246413,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.422040939331055,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2914.64794921875,
                4253.0791015625,
                360.6177978515625
            ],
            "velocity": [
                -11.34024429321289,
                -1.8354971408843994,
                -0.08082641661167145
            ],
            "speed_kmh": 41.35720413524828,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.887365341186523,
                "transform": {
                    "location": {
                        "x": 2861.985595703125,
                        "y": 4251.25048828125,
                        "z": 360.25872802734375
                    },
                    "rotation": {
                        "roll": -0.037567138671875,
                        "pitch": 0.12239015102386475,
                        "yaw": 9.494961738586426
                    }
                },
                "velocity": {
                    "x": 6.78908109664917,
                    "y": 1.157963514328003,
                    "z": 0.057446498423814774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.495054244995117,
                "transform": {
                    "location": {
                        "x": 2864.42919921875,
                        "y": 4248.35693359375,
                        "z": 360.2606506347656
                    },
                    "rotation": {
                        "roll": -0.0007934591849334538,
                        "pitch": 0.4066762626171112,
                        "yaw": 9.546324729919434
                    }
                },
                "velocity": {
                    "x": 6.401444435119629,
                    "y": 1.0973703861236572,
                    "z": 0.05488601699471474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.468101501464844,
                "transform": {
                    "location": {
                        "x": 2969.620361328125,
                        "y": 4261.9990234375,
                        "z": 361.0410461425781
                    },
                    "rotation": {
                        "roll": 0.007956394925713539,
                        "pitch": -0.29858168959617615,
                        "yaw": -170.4761505126953
                    }
                },
                "velocity": {
                    "x": -9.339018821716309,
                    "y": -1.5560156106948853,
                    "z": -0.08054231107234955
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084052085876465,
                "transform": {
                    "location": {
                        "x": 2902.720458984375,
                        "y": 4257.93603515625,
                        "z": 360.534912109375
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.3964378237724304,
                        "yaw": 9.18887710571289
                    }
                },
                "velocity": {
                    "x": 7.980122089385986,
                    "y": 1.290898084640503,
                    "z": 0.05591915175318718
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988286972045898,
                "transform": {
                    "location": {
                        "x": 2904.8837890625,
                        "y": 4254.99169921875,
                        "z": 360.5445251464844
                    },
                    "rotation": {
                        "roll": 0.0009970816317945719,
                        "pitch": 0.39863714575767517,
                        "yaw": 9.191211700439453
                    }
                },
                "velocity": {
                    "x": 7.8855156898498535,
                    "y": 1.2760119438171387,
                    "z": 0.056244269013404846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002593040466309,
                "transform": {
                    "location": {
                        "x": 2946.10595703125,
                        "y": 4261.66259765625,
                        "z": 360.84613037109375
                    },
                    "rotation": {
                        "roll": -0.00030517595587298274,
                        "pitch": 0.43032920360565186,
                        "yaw": 9.195303916931152
                    }
                },
                "velocity": {
                    "x": 7.899632930755615,
                    "y": 1.2780979871749878,
                    "z": 0.06132693216204643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082911491394043,
                "transform": {
                    "location": {
                        "x": 2944.936767578125,
                        "y": 4264.767578125,
                        "z": 360.8524475097656
                    },
                    "rotation": {
                        "roll": -0.00036620942410081625,
                        "pitch": 0.43571141362190247,
                        "yaw": 9.187828063964844
                    }
                },
                "velocity": {
                    "x": 7.978987216949463,
                    "y": 1.2905559539794922,
                    "z": 0.0606842115521431
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077178955078125,
                "transform": {
                    "location": {
                        "x": 2988.177001953125,
                        "y": 4271.7626953125,
                        "z": 361.21307373046875
                    },
                    "rotation": {
                        "roll": 0.0033628009259700775,
                        "pitch": 0.5291825532913208,
                        "yaw": 9.1997709274292
                    }
                },
                "velocity": {
                    "x": 7.972965717315674,
                    "y": 1.2911787033081055,
                    "z": 0.07405027002096176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076498031616211,
                "transform": {
                    "location": {
                        "x": 2987.731689453125,
                        "y": 4268.41162109375,
                        "z": 361.20831298828125
                    },
                    "rotation": {
                        "roll": 0.0016780016012489796,
                        "pitch": 0.5341753959655762,
                        "yaw": 9.34680461883545
                    }
                },
                "velocity": {
                    "x": 7.972318172454834,
                    "y": 1.2908971309661865,
                    "z": 0.07447120547294617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.699591159820557,
                "transform": {
                    "location": {
                        "x": 2958.836181640625,
                        "y": 4256.93603515625,
                        "z": 360.94097900390625
                    },
                    "rotation": {
                        "roll": -0.00015258858911693096,
                        "pitch": -0.5319487452507019,
                        "yaw": -170.7923583984375
                    }
                },
                "velocity": {
                    "x": -4.638901710510254,
                    "y": -0.7519074082374573,
                    "z": -0.037219755351543427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.354654312133789,
                "transform": {
                    "location": {
                        "x": 2941.007080078125,
                        "y": 4257.34423828125,
                        "z": 360.8084411621094
                    },
                    "rotation": {
                        "roll": -0.003448475617915392,
                        "pitch": -1.1302118301391602,
                        "yaw": -170.61932373046875
                    }
                },
                "velocity": {
                    "x": -1.3376920223236084,
                    "y": -0.2133980393409729,
                    "z": -0.011393317952752113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4623386859893799,
                "transform": {
                    "location": {
                        "x": 2943.98095703125,
                        "y": 4254.5322265625,
                        "z": 360.8328552246094
                    },
                    "rotation": {
                        "roll": -0.0010375985875725746,
                        "pitch": -0.4608396589756012,
                        "yaw": -170.7952423095703
                    }
                },
                "velocity": {
                    "x": -1.4435577392578125,
                    "y": -0.23338115215301514,
                    "z": -0.010431270115077496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.48811149597168,
                "transform": {
                    "location": {
                        "x": 2914.64794921875,
                        "y": 4253.0791015625,
                        "z": 360.6177978515625
                    },
                    "rotation": {
                        "roll": 0.001450301962904632,
                        "pitch": -0.16046161949634552,
                        "yaw": -170.8065948486328
                    }
                },
                "velocity": {
                    "x": -11.34024429321289,
                    "y": -1.8354971408843994,
                    "z": -0.08082641661167145
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.008175530470907688,
                "transform": {
                    "location": {
                        "x": 2889.0625,
                        "y": 4245.673828125,
                        "z": 360.4416198730469
                    },
                    "rotation": {
                        "roll": -0.005554200615733862,
                        "pitch": -0.7560130953788757,
                        "yaw": -170.46360778808594
                    }
                },
                "velocity": {
                    "x": -0.008059988729655743,
                    "y": -0.0010750086512416601,
                    "z": -0.0008486725273542106
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003148217801935971,
                "transform": {
                    "location": {
                        "x": 2878.638427734375,
                        "y": 4244.06005859375,
                        "z": 360.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0008981109131127596,
                        "pitch": -0.3929407596588135,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -9.54486404225463e-06,
                    "y": -1.4140345228952356e-05,
                    "z": -0.00031435920391231775
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.481766700744629,
                "transform": {
                    "location": {
                        "x": 2889.90087890625,
                        "y": 4249.07470703125,
                        "z": 360.4366455078125
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.3664259612560272,
                        "yaw": -170.81846618652344
                    }
                },
                "velocity": {
                    "x": -12.321563720703125,
                    "y": -1.991621971130371,
                    "z": -0.083742655813694
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8130528330802917,
        "expert_target_speed": 10.0,
        "target_point": [
            38.170035622754654,
            6.070745833483359
        ],
        "target_point_next": [
            79.9369925235429,
            10.488989424755125
        ]
    },
    "290": {
        "acceleration": [
            -0.19937515258789062,
            -0.3101402521133423,
            -0.001405179500579834
        ],
        "angular_velocity": [
            -0.1917160600423813,
            -0.22414948046207428,
            2.486150026321411
        ],
        "forward_vector": [
            -0.9980269074440002,
            -0.06248851493000984,
            -0.006129464600235224
        ],
        "right_vector": [
            0.06248597055673599,
            -0.9980456829071045,
            0.000606123881880194
        ],
        "location": [
            2926.274658203125,
            4253.9912109375,
            360.69561767578125
        ],
        "rotation": [
            -0.0347289964556694,
            -0.3511946499347687,
            -176.41726684570312
        ],
        "velocity": [
            -7.034128665924072,
            -0.48464125394821167,
            -0.0506095364689827
        ],
        "speed": 7.050804438771739,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.671255111694336,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2911.670166015625,
                4252.5966796875,
                360.5965576171875
            ],
            "velocity": [
                -12.414101600646973,
                -2.010195016860962,
                -0.0887158066034317
            ],
            "speed_kmh": 45.274014652395934,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.625382423400879,
                "transform": {
                    "location": {
                        "x": 2863.652099609375,
                        "y": 4251.5341796875,
                        "z": 360.27099609375
                    },
                    "rotation": {
                        "roll": -0.0028686518780887127,
                        "pitch": 0.4083428382873535,
                        "yaw": 9.69708251953125
                    }
                },
                "velocity": {
                    "x": 6.5294318199157715,
                    "y": 1.122162103652954,
                    "z": 0.05446230620145798
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.685390472412109,
                "transform": {
                    "location": {
                        "x": 2866.05419921875,
                        "y": 4248.634765625,
                        "z": 360.2735595703125
                    },
                    "rotation": {
                        "roll": 0.0025414791889488697,
                        "pitch": 0.41062411665916443,
                        "yaw": 9.807157516479492
                    }
                },
                "velocity": {
                    "x": 6.586581707000732,
                    "y": 1.1440865993499756,
                    "z": 0.049475278705358505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.123671531677246,
                "transform": {
                    "location": {
                        "x": 2967.05615234375,
                        "y": 4261.57373046875,
                        "z": 361.0190124511719
                    },
                    "rotation": {
                        "roll": 0.009479532949626446,
                        "pitch": -0.19479697942733765,
                        "yaw": -170.6062774658203
                    }
                },
                "velocity": {
                    "x": -10.974658012390137,
                    "y": -1.81218421459198,
                    "z": -0.09458773583173752
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043359756469727,
                "transform": {
                    "location": {
                        "x": 2904.71044921875,
                        "y": 4258.25732421875,
                        "z": 360.5488586425781
                    },
                    "rotation": {
                        "roll": 0.0006837625987827778,
                        "pitch": 0.399859756231308,
                        "yaw": 9.185845375061035
                    }
                },
                "velocity": {
                    "x": 7.940013408660889,
                    "y": 1.2839994430541992,
                    "z": 0.056287240236997604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02004337310791,
                "transform": {
                    "location": {
                        "x": 2906.85888671875,
                        "y": 4255.3115234375,
                        "z": 360.5584411621094
                    },
                    "rotation": {
                        "roll": 0.00026486971182748675,
                        "pitch": 0.40027639269828796,
                        "yaw": 9.190947532653809
                    }
                },
                "velocity": {
                    "x": 7.916879177093506,
                    "y": 1.2809948921203613,
                    "z": 0.05632656812667847
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003012657165527,
                "transform": {
                    "location": {
                        "x": 2948.080810546875,
                        "y": 4261.98291015625,
                        "z": 360.861328125
                    },
                    "rotation": {
                        "roll": 0.0007472338038496673,
                        "pitch": 0.4377467930316925,
                        "yaw": 9.176814079284668
                    }
                },
                "velocity": {
                    "x": 7.900105953216553,
                    "y": 1.27781081199646,
                    "z": 0.061161573976278305
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052240371704102,
                "transform": {
                    "location": {
                        "x": 2946.927734375,
                        "y": 4265.08984375,
                        "z": 360.8677673339844
                    },
                    "rotation": {
                        "roll": -0.0002441430406179279,
                        "pitch": 0.4377467930316925,
                        "yaw": 9.18772029876709
                    }
                },
                "velocity": {
                    "x": 7.94870662689209,
                    "y": 1.2856742143630981,
                    "z": 0.060598257929086685
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0445556640625,
                "transform": {
                    "location": {
                        "x": 2990.166259765625,
                        "y": 4272.0849609375,
                        "z": 361.23162841796875
                    },
                    "rotation": {
                        "roll": -0.0013732966035604477,
                        "pitch": 0.5284175276756287,
                        "yaw": 9.197675704956055
                    }
                },
                "velocity": {
                    "x": 7.940912246704102,
                    "y": 1.2849665880203247,
                    "z": 0.07521417737007141
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012622833251953,
                "transform": {
                    "location": {
                        "x": 2989.716796875,
                        "y": 4268.73291015625,
                        "z": 361.22686767578125
                    },
                    "rotation": {
                        "roll": 0.002213019412010908,
                        "pitch": 0.5313340425491333,
                        "yaw": 9.351288795471191
                    }
                },
                "velocity": {
                    "x": 7.909522533416748,
                    "y": 1.2790820598602295,
                    "z": 0.07434812188148499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.294077396392822,
                "transform": {
                    "location": {
                        "x": 2957.560791015625,
                        "y": 4256.7294921875,
                        "z": 360.9299621582031
                    },
                    "rotation": {
                        "roll": -0.0005798320635221899,
                        "pitch": -0.26971733570098877,
                        "yaw": -170.7908172607422
                    }
                },
                "velocity": {
                    "x": -5.225698947906494,
                    "y": -0.8471301198005676,
                    "z": -0.041226036846637726
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9672077894210815,
                "transform": {
                    "location": {
                        "x": 2940.887451171875,
                        "y": 4257.32470703125,
                        "z": 360.8081970214844
                    },
                    "rotation": {
                        "roll": -0.0015258865896612406,
                        "pitch": -0.6663737297058105,
                        "yaw": -170.60060119628906
                    }
                },
                "velocity": {
                    "x": -0.9544414281845093,
                    "y": -0.1565113365650177,
                    "z": -0.006056318059563637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.312052011489868,
                "transform": {
                    "location": {
                        "x": 2943.50830078125,
                        "y": 4254.45556640625,
                        "z": 360.8297119140625
                    },
                    "rotation": {
                        "roll": -0.00048827772843651474,
                        "pitch": -0.5092998743057251,
                        "yaw": -170.79110717773438
                    }
                },
                "velocity": {
                    "x": -2.2821927070617676,
                    "y": -0.3700229525566101,
                    "z": -0.016250018030405045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.576115608215332,
                "transform": {
                    "location": {
                        "x": 2911.670166015625,
                        "y": 4252.5966796875,
                        "z": 360.5965576171875
                    },
                    "rotation": {
                        "roll": -0.00033569292281754315,
                        "pitch": -0.1697096973657608,
                        "yaw": -170.80197143554688
                    }
                },
                "velocity": {
                    "x": -12.414101600646973,
                    "y": -2.010195016860962,
                    "z": -0.0887158066034317
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004097499419003725,
                "transform": {
                    "location": {
                        "x": 2889.061767578125,
                        "y": 4245.673828125,
                        "z": 360.4411315917969
                    },
                    "rotation": {
                        "roll": -0.003967292606830597,
                        "pitch": -0.6967748999595642,
                        "yaw": -170.46363830566406
                    }
                },
                "velocity": {
                    "x": 0.003972284030169249,
                    "y": 0.000519539462402463,
                    "z": -0.0008605464827269316
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0490233898162842,
                "transform": {
                    "location": {
                        "x": 2878.57373046875,
                        "y": 4244.048828125,
                        "z": 360.3664855957031
                    },
                    "rotation": {
                        "roll": 0.004884724970906973,
                        "pitch": -0.47750532627105713,
                        "yaw": -170.75404357910156
                    }
                },
                "velocity": {
                    "x": -1.0322885513305664,
                    "y": -0.1864713579416275,
                    "z": -0.007665977347642183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.122838973999023,
                "transform": {
                    "location": {
                        "x": 2886.73779296875,
                        "y": 4248.5634765625,
                        "z": 360.4148254394531
                    },
                    "rotation": {
                        "roll": 0.00028860807651653886,
                        "pitch": -0.36709532141685486,
                        "yaw": -170.81825256347656
                    }
                },
                "velocity": {
                    "x": -12.954400062561035,
                    "y": -2.0939691066741943,
                    "z": -0.08790013194084167
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6885548830032349,
        "expert_target_speed": 10.0,
        "target_point": [
            36.45496773460954,
            5.785000803871659
        ],
        "target_point_next": [
            78.25387346447499,
            9.89000323626272
        ]
    },
    "295": {
        "acceleration": [
            -2.260885238647461,
            -0.679553747177124,
            -0.009020939469337463
        ],
        "angular_velocity": [
            -0.23808224499225616,
            0.4224340617656708,
            3.407484769821167
        ],
        "forward_vector": [
            -0.997135579586029,
            -0.0754581168293953,
            -0.005169726442545652
        ],
        "right_vector": [
            0.0754508227109909,
            -0.9971482157707214,
            0.001591482781805098
        ],
        "location": [
            2924.47119140625,
            4253.85546875,
            360.6824035644531
        ],
        "rotation": [
            -0.0911865085363388,
            -0.2962048053741455,
            -175.67239379882812
        ],
        "velocity": [
            -7.425592422485352,
            -0.6233397126197815,
            -0.0536881722509861
        ],
        "speed": 7.4517095503113095,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.083845138549805,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2908.48583984375,
                4252.08154296875,
                360.5738830566406
            ],
            "velocity": [
                -12.87636661529541,
                -2.0840861797332764,
                -0.09170369058847427
            ],
            "speed_kmh": 46.95932537950906,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.965425968170166,
                "transform": {
                    "location": {
                        "x": 2865.260986328125,
                        "y": 4251.81103515625,
                        "z": 360.2839050292969
                    },
                    "rotation": {
                        "roll": 0.0033078931737691164,
                        "pitch": 0.3279241919517517,
                        "yaw": 9.768091201782227
                    }
                },
                "velocity": {
                    "x": 5.878566741943359,
                    "y": 1.0134260654449463,
                    "z": 0.0415525920689106
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.191051483154297,
                "transform": {
                    "location": {
                        "x": 2867.655517578125,
                        "y": 4248.91162109375,
                        "z": 360.2853088378906
                    },
                    "rotation": {
                        "roll": 0.0076527586206793785,
                        "pitch": 0.3993816375732422,
                        "yaw": 9.870902061462402
                    }
                },
                "velocity": {
                    "x": 6.102152347564697,
                    "y": 1.0444576740264893,
                    "z": 0.044287070631980896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.991092681884766,
                "transform": {
                    "location": {
                        "x": 2964.174072265625,
                        "y": 4261.10009765625,
                        "z": 360.9945373535156
                    },
                    "rotation": {
                        "roll": 0.011855654418468475,
                        "pitch": -0.2633993923664093,
                        "yaw": -170.68399047851562
                    }
                },
                "velocity": {
                    "x": -11.8331298828125,
                    "y": -1.93738853931427,
                    "z": -0.09928418695926666
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078739166259766,
                "transform": {
                    "location": {
                        "x": 2906.699951171875,
                        "y": 4258.578125,
                        "z": 360.5629577636719
                    },
                    "rotation": {
                        "roll": 0.00015355624782387167,
                        "pitch": 0.3995933532714844,
                        "yaw": 9.185457229614258
                    }
                },
                "velocity": {
                    "x": 7.974948406219482,
                    "y": 1.2895755767822266,
                    "z": 0.05666646733880043
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986782550811768,
                "transform": {
                    "location": {
                        "x": 2908.833984375,
                        "y": 4255.63037109375,
                        "z": 360.5724792480469
                    },
                    "rotation": {
                        "roll": -0.0004272475198376924,
                        "pitch": 0.4020659029483795,
                        "yaw": 9.190969467163086
                    }
                },
                "velocity": {
                    "x": 7.8840556144714355,
                    "y": 1.275637149810791,
                    "z": 0.05579494312405586
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002568244934082,
                "transform": {
                    "location": {
                        "x": 2950.055908203125,
                        "y": 4262.30322265625,
                        "z": 360.8766174316406
                    },
                    "rotation": {
                        "roll": 0.0010298152919858694,
                        "pitch": 0.44472724199295044,
                        "yaw": 9.198492050170898
                    }
                },
                "velocity": {
                    "x": 7.899674415588379,
                    "y": 1.2777153253555298,
                    "z": 0.0606418214738369
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.083091735839844,
                "transform": {
                    "location": {
                        "x": 2948.9189453125,
                        "y": 4265.412109375,
                        "z": 360.8830871582031
                    },
                    "rotation": {
                        "roll": -3.052000101888552e-05,
                        "pitch": 0.4476642310619354,
                        "yaw": 9.187836647033691
                    }
                },
                "velocity": {
                    "x": 7.979165077209473,
                    "y": 1.290578007698059,
                    "z": 0.06088430434465408
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077217102050781,
                "transform": {
                    "location": {
                        "x": 2992.155517578125,
                        "y": 4272.4072265625,
                        "z": 361.2502746582031
                    },
                    "rotation": {
                        "roll": -0.0012817354872822762,
                        "pitch": 0.5287659168243408,
                        "yaw": 9.195717811584473
                    }
                },
                "velocity": {
                    "x": 7.973055839538574,
                    "y": 1.2907328605651855,
                    "z": 0.07631175965070724
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077863693237305,
                "transform": {
                    "location": {
                        "x": 2991.702392578125,
                        "y": 4269.0546875,
                        "z": 361.24542236328125
                    },
                    "rotation": {
                        "roll": 0.001688750577159226,
                        "pitch": 0.5328640341758728,
                        "yaw": 9.343594551086426
                    }
                },
                "velocity": {
                    "x": 7.973580837249756,
                    "y": 1.2915993928909302,
                    "z": 0.07520554959774017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.423498630523682,
                "transform": {
                    "location": {
                        "x": 2956.150634765625,
                        "y": 4256.5009765625,
                        "z": 360.91790771484375
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.08587596565485,
                        "yaw": -170.7906036376953
                    }
                },
                "velocity": {
                    "x": -6.34049129486084,
                    "y": -1.0280753374099731,
                    "z": -0.050677817314863205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.063859462738037,
                "transform": {
                    "location": {
                        "x": 2940.5126953125,
                        "y": 4257.26416015625,
                        "z": 360.80584716796875
                    },
                    "rotation": {
                        "roll": -0.0004272477235645056,
                        "pitch": -0.3372132480144501,
                        "yaw": -170.67942810058594
                    }
                },
                "velocity": {
                    "x": -2.0370230674743652,
                    "y": -0.3314187824726105,
                    "z": -0.014645976945757866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7527251243591309,
                "transform": {
                    "location": {
                        "x": 2942.98876953125,
                        "y": 4254.37109375,
                        "z": 360.8249206542969
                    },
                    "rotation": {
                        "roll": -0.0006103527848608792,
                        "pitch": -0.3978516757488251,
                        "yaw": -170.7943115234375
                    }
                },
                "velocity": {
                    "x": -1.730102300643921,
                    "y": -0.2803646922111511,
                    "z": -0.013676032423973083
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.044257164001465,
                "transform": {
                    "location": {
                        "x": 2908.48583984375,
                        "y": 4252.08154296875,
                        "z": 360.5738830566406
                    },
                    "rotation": {
                        "roll": 0.0005581073346547782,
                        "pitch": -0.2700793147087097,
                        "yaw": -170.80699157714844
                    }
                },
                "velocity": {
                    "x": -12.87636661529541,
                    "y": -2.0840861797332764,
                    "z": -0.09170369058847427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0011144524905830622,
                "transform": {
                    "location": {
                        "x": 2889.059326171875,
                        "y": 4245.6728515625,
                        "z": 360.4383239746094
                    },
                    "rotation": {
                        "roll": -0.00222778576426208,
                        "pitch": -0.35192549228668213,
                        "yaw": -170.46372985839844
                    }
                },
                "velocity": {
                    "x": 0.001058654859662056,
                    "y": 0.00020371514256112278,
                    "z": -0.0002824080584105104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.128793954849243,
                "transform": {
                    "location": {
                        "x": 2878.16796875,
                        "y": 4243.9775390625,
                        "z": 360.3638610839844
                    },
                    "rotation": {
                        "roll": 0.002259564818814397,
                        "pitch": -0.510495126247406,
                        "yaw": -170.5883026123047
                    }
                },
                "velocity": {
                    "x": -2.095231771469116,
                    "y": -0.3762403726577759,
                    "z": -0.014527912251651287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.422554016113281,
                "transform": {
                    "location": {
                        "x": 2883.446533203125,
                        "y": 4248.03125,
                        "z": 360.3923645019531
                    },
                    "rotation": {
                        "roll": 0.0016010800609365106,
                        "pitch": -0.3765209913253784,
                        "yaw": -170.8123321533203
                    }
                },
                "velocity": {
                    "x": -13.249773025512695,
                    "y": -2.1447649002075195,
                    "z": -0.09187024086713791
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5448200106620789,
        "expert_target_speed": 10.0,
        "target_point": [
            34.71852490668715,
            5.311325940053751
        ],
        "target_point_next": [
            76.56726394618308,
            8.872590601418587
        ]
    },
    "300": {
        "acceleration": [
            -2.1706199645996094,
            -0.7957935333251953,
            -0.009308978915214539
        ],
        "angular_velocity": [
            -0.18320900201797485,
            0.23115359246730804,
            4.051567077636719
        ],
        "forward_vector": [
            -0.9958199858665466,
            -0.09126656502485275,
            -0.0035819928161799908
        ],
        "right_vector": [
            0.09125826507806778,
            -0.9958242774009705,
            0.002417067065834999
        ],
        "location": [
            2922.54248046875,
            4253.6806640625,
            360.66815185546875
        ],
        "rotation": [
            -0.13848876953125,
            -0.20523351430892944,
            -174.76348876953125
        ],
        "velocity": [
            -7.989578723907471,
            -0.8019570708274841,
            -0.05755076929926872
        ],
        "speed": 8.029726230013395,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.393281936645508,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2905.279052734375,
                4251.5625,
                360.55120849609375
            ],
            "velocity": [
                -12.720892906188965,
                -2.0575144290924072,
                -0.09038026630878448
            ],
            "speed_kmh": 46.391507316722375,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.128564834594727,
                "transform": {
                    "location": {
                        "x": 2866.60302734375,
                        "y": 4252.0419921875,
                        "z": 360.2945556640625
                    },
                    "rotation": {
                        "roll": 0.0072608450427651405,
                        "pitch": 0.16684101521968842,
                        "yaw": 9.772924423217773
                    }
                },
                "velocity": {
                    "x": 5.055535793304443,
                    "y": 0.8616330027580261,
                    "z": 0.03640470281243324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.033805847167969,
                "transform": {
                    "location": {
                        "x": 2869.13525390625,
                        "y": 4249.1640625,
                        "z": 360.2960510253906
                    },
                    "rotation": {
                        "roll": 0.005050036124885082,
                        "pitch": 0.3988010585308075,
                        "yaw": 9.729377746582031
                    }
                },
                "velocity": {
                    "x": 5.949243545532227,
                    "y": 1.005757451057434,
                    "z": 0.042071789503097534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.834930419921875,
                "transform": {
                    "location": {
                        "x": 2961.350830078125,
                        "y": 4260.63916015625,
                        "z": 360.97076416015625
                    },
                    "rotation": {
                        "roll": 0.007961832918226719,
                        "pitch": -0.5937483310699463,
                        "yaw": -170.7587432861328
                    }
                },
                "velocity": {
                    "x": -10.693840026855469,
                    "y": -1.740621566772461,
                    "z": -0.08793958276510239
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047157287597656,
                "transform": {
                    "location": {
                        "x": 2908.689697265625,
                        "y": 4258.900390625,
                        "z": 360.5770263671875
                    },
                    "rotation": {
                        "roll": -0.0004882804350927472,
                        "pitch": 0.4017380475997925,
                        "yaw": 9.191153526306152
                    }
                },
                "velocity": {
                    "x": 7.943636894226074,
                    "y": 1.2853866815567017,
                    "z": 0.05621621012687683
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019058227539062,
                "transform": {
                    "location": {
                        "x": 2910.809326171875,
                        "y": 4255.94970703125,
                        "z": 360.58648681640625
                    },
                    "rotation": {
                        "roll": 0.00018866533355321735,
                        "pitch": 0.40509167313575745,
                        "yaw": 9.192999839782715
                    }
                },
                "velocity": {
                    "x": 7.915858745574951,
                    "y": 1.2811100482940674,
                    "z": 0.05687669664621353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001627922058105,
                "transform": {
                    "location": {
                        "x": 2952.030517578125,
                        "y": 4262.6220703125,
                        "z": 360.89208984375
                    },
                    "rotation": {
                        "roll": 0.001467941328883171,
                        "pitch": 0.4453624486923218,
                        "yaw": 9.1743745803833
                    }
                },
                "velocity": {
                    "x": 7.898787498474121,
                    "y": 1.2772260904312134,
                    "z": 0.06253049522638321
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052750587463379,
                "transform": {
                    "location": {
                        "x": 2950.909912109375,
                        "y": 4265.734375,
                        "z": 360.89862060546875
                    },
                    "rotation": {
                        "roll": 0.00013627443695440888,
                        "pitch": 0.4483813941478729,
                        "yaw": 9.184673309326172
                    }
                },
                "velocity": {
                    "x": 7.94928503036499,
                    "y": 1.2852789163589478,
                    "z": 0.06095847859978676
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2994.224365234375,
                        "y": 4272.6513671875,
                        "z": 361.2742919921875
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2993.73779296875,
                        "y": 4269.32666015625,
                        "z": 361.26495361328125
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.791903495788574,
                "transform": {
                    "location": {
                        "x": 2954.584716796875,
                        "y": 4256.2470703125,
                        "z": 360.9064025878906
                    },
                    "rotation": {
                        "roll": -0.0006103508058004081,
                        "pitch": -0.3708246052265167,
                        "yaw": -170.7927703857422
                    }
                },
                "velocity": {
                    "x": -5.717103958129883,
                    "y": -0.9266987442970276,
                    "z": -0.04581034928560257
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.263339042663574,
                "transform": {
                    "location": {
                        "x": 2939.87060546875,
                        "y": 4257.1591796875,
                        "z": 360.80120849609375
                    },
                    "rotation": {
                        "roll": 0.0004952752497047186,
                        "pitch": -0.2538439631462097,
                        "yaw": -170.7151641845703
                    }
                },
                "velocity": {
                    "x": -3.2210347652435303,
                    "y": -0.5232385396957397,
                    "z": -0.023186463862657547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9994910955429077,
                "transform": {
                    "location": {
                        "x": 2942.553466796875,
                        "y": 4254.30029296875,
                        "z": 360.82177734375
                    },
                    "rotation": {
                        "roll": -0.002166754100471735,
                        "pitch": -0.4270643889904022,
                        "yaw": -170.79261779785156
                    }
                },
                "velocity": {
                    "x": -1.9738729000091553,
                    "y": -0.3187408149242401,
                    "z": -0.013967503793537617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.886529922485352,
                "transform": {
                    "location": {
                        "x": 2905.279052734375,
                        "y": 4251.5625,
                        "z": 360.55120849609375
                    },
                    "rotation": {
                        "roll": 0.0010763434693217278,
                        "pitch": -0.39172497391700745,
                        "yaw": -170.81004333496094
                    }
                },
                "velocity": {
                    "x": -12.720892906188965,
                    "y": -2.0575144290924072,
                    "z": -0.09038026630878448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.008788558654487133,
                "transform": {
                    "location": {
                        "x": 2889.057861328125,
                        "y": 4245.6728515625,
                        "z": 360.4383239746094
                    },
                    "rotation": {
                        "roll": -0.002258302178233862,
                        "pitch": -0.3530319631099701,
                        "yaw": -170.4637451171875
                    }
                },
                "velocity": {
                    "x": -0.00865856371819973,
                    "y": -0.0014963597059249878,
                    "z": -0.00017012596072163433
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.033686876296997,
                "transform": {
                    "location": {
                        "x": 2877.529541015625,
                        "y": 4243.86474609375,
                        "z": 360.3592834472656
                    },
                    "rotation": {
                        "roll": 0.0001918692869367078,
                        "pitch": -0.4896835684776306,
                        "yaw": -170.38108825683594
                    }
                },
                "velocity": {
                    "x": -2.9859261512756348,
                    "y": -0.5357930064201355,
                    "z": -0.02065587043762207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.953351974487305,
                "transform": {
                    "location": {
                        "x": 2880.18212890625,
                        "y": 4247.5029296875,
                        "z": 360.37005615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4015194773674011,
                        "yaw": -170.79458618164062
                    }
                },
                "velocity": {
                    "x": -12.78644847869873,
                    "y": -2.0707430839538574,
                    "z": -0.08988901227712631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4512825310230255,
        "expert_target_speed": 10.0,
        "target_point": [
            32.86179354604496,
            4.761879290129386
        ],
        "target_point_next": [
            74.76175858179302,
            7.658859646846904
        ]
    },
    "305": {
        "acceleration": [
            -1.8914413452148438,
            -1.0194337368011475,
            0.0004513561725616455
        ],
        "angular_velocity": [
            -0.19199423491954803,
            -0.09190621972084045,
            5.138484477996826
        ],
        "forward_vector": [
            -0.9937118887901306,
            -0.11192769557237625,
            -0.002974267117679119
        ],
        "right_vector": [
            0.11191672086715698,
            -0.9937109351158142,
            0.0036303966771811247
        ],
        "location": [
            2920.467529296875,
            4253.45263671875,
            360.653076171875
        ],
        "rotation": [
            -0.2080077826976776,
            -0.17041321098804474,
            -173.57351684570312
        ],
        "velocity": [
            -8.54257869720459,
            -1.044534683227539,
            -0.06086784228682518
        ],
        "speed": 8.60620145606637,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.453847885131836,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2902.169921875,
                4251.0595703125,
                360.52935791015625
            ],
            "velocity": [
                -12.127150535583496,
                -1.9631919860839844,
                -0.0850849449634552
            ],
            "speed_kmh": 44.22716003383937,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.597504138946533,
                "transform": {
                    "location": {
                        "x": 2867.880859375,
                        "y": 4252.2578125,
                        "z": 360.3016357421875
                    },
                    "rotation": {
                        "roll": 0.014011610299348831,
                        "pitch": 0.43166792392730713,
                        "yaw": 9.644050598144531
                    }
                },
                "velocity": {
                    "x": 5.520325183868408,
                    "y": 0.9254181981086731,
                    "z": 0.04075861722230911
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.798741817474365,
                "transform": {
                    "location": {
                        "x": 2870.70703125,
                        "y": 4249.4306640625,
                        "z": 360.3070373535156
                    },
                    "rotation": {
                        "roll": 0.004605520982295275,
                        "pitch": 0.4299672245979309,
                        "yaw": 9.587450981140137
                    }
                },
                "velocity": {
                    "x": 6.704488277435303,
                    "y": 1.127129077911377,
                    "z": 0.0479896254837513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.957194328308105,
                "transform": {
                    "location": {
                        "x": 2958.87744140625,
                        "y": 4260.23681640625,
                        "z": 360.9504699707031
                    },
                    "rotation": {
                        "roll": 0.0050469194538891315,
                        "pitch": -0.8097530603408813,
                        "yaw": -170.7640838623047
                    }
                },
                "velocity": {
                    "x": -8.84119701385498,
                    "y": -1.4350433349609375,
                    "z": -0.07217655330896378
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077506065368652,
                "transform": {
                    "location": {
                        "x": 2910.67919921875,
                        "y": 4259.22216796875,
                        "z": 360.5911560058594
                    },
                    "rotation": {
                        "roll": -0.0007629358442500234,
                        "pitch": 0.4047296643257141,
                        "yaw": 9.194361686706543
                    }
                },
                "velocity": {
                    "x": 7.973515033721924,
                    "y": 1.2906965017318726,
                    "z": 0.0570886991918087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987473011016846,
                "transform": {
                    "location": {
                        "x": 2912.784423828125,
                        "y": 4256.26904296875,
                        "z": 360.60052490234375
                    },
                    "rotation": {
                        "roll": -0.0003051816311199218,
                        "pitch": 0.40382125973701477,
                        "yaw": 9.193704605102539
                    }
                },
                "velocity": {
                    "x": 7.884676456451416,
                    "y": 1.276098370552063,
                    "z": 0.05640749633312225
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002449989318848,
                "transform": {
                    "location": {
                        "x": 2954.005615234375,
                        "y": 4262.9404296875,
                        "z": 360.90777587890625
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": 0.45536184310913086,
                        "yaw": 9.195080757141113
                    }
                },
                "velocity": {
                    "x": 7.899476528167725,
                    "y": 1.2780284881591797,
                    "z": 0.0642128735780716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08241081237793,
                "transform": {
                    "location": {
                        "x": 2952.901123046875,
                        "y": 4266.0556640625,
                        "z": 360.9142150878906
                    },
                    "rotation": {
                        "roll": 0.0009036711999215186,
                        "pitch": 0.45552578568458557,
                        "yaw": 9.17947006225586
                    }
                },
                "velocity": {
                    "x": 7.978682518005371,
                    "y": 1.289129614830017,
                    "z": 0.06433574855327606
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4598,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2996.280517578125,
                        "y": 4272.97998046875,
                        "z": 361.2937316894531
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2995.801513671875,
                        "y": 4269.60400390625,
                        "z": 361.2847595214844
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005260630045086145,
                "transform": {
                    "location": {
                        "x": 2954.00146484375,
                        "y": 4256.15283203125,
                        "z": 360.90777587890625
                    },
                    "rotation": {
                        "roll": -0.0008239877643063664,
                        "pitch": -2.0417823791503906,
                        "yaw": -170.79611206054688
                    }
                },
                "velocity": {
                    "x": -0.004891457036137581,
                    "y": -0.0008983348961919546,
                    "z": -0.0017148961778730154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.769761085510254,
                "transform": {
                    "location": {
                        "x": 2938.864501953125,
                        "y": 4256.99609375,
                        "z": 360.7937316894531
                    },
                    "rotation": {
                        "roll": 0.0017483539413660765,
                        "pitch": -0.20062313973903656,
                        "yaw": -170.7509002685547
                    }
                },
                "velocity": {
                    "x": -4.708026885986328,
                    "y": -0.7641524076461792,
                    "z": -0.03424736112356186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0377321243286133,
                "transform": {
                    "location": {
                        "x": 2942.013671875,
                        "y": 4254.212890625,
                        "z": 360.81793212890625
                    },
                    "rotation": {
                        "roll": -0.000335696036927402,
                        "pitch": -0.43343695998191833,
                        "yaw": -170.79786682128906
                    }
                },
                "velocity": {
                    "x": -2.0115747451782227,
                    "y": -0.3250671625137329,
                    "z": -0.015831299126148224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.285322189331055,
                "transform": {
                    "location": {
                        "x": 2902.169921875,
                        "y": 4251.0595703125,
                        "z": 360.52935791015625
                    },
                    "rotation": {
                        "roll": -0.00134277471806854,
                        "pitch": -0.489287406206131,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": -12.127150535583496,
                    "y": -1.9631919860839844,
                    "z": -0.0850849449634552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.14363601803779602,
                "transform": {
                    "location": {
                        "x": 2889.0458984375,
                        "y": 4245.6708984375,
                        "z": 360.4385070800781
                    },
                    "rotation": {
                        "roll": -0.0021362323313951492,
                        "pitch": -0.3814045786857605,
                        "yaw": -170.4751739501953
                    }
                },
                "velocity": {
                    "x": -0.14171147346496582,
                    "y": -0.023380611091852188,
                    "z": -0.0015839004190638661
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.150519371032715,
                "transform": {
                    "location": {
                        "x": 2876.6416015625,
                        "y": 4243.71435546875,
                        "z": 360.3531799316406
                    },
                    "rotation": {
                        "roll": -0.0027771019376814365,
                        "pitch": -0.5017388463020325,
                        "yaw": -170.3630828857422
                    }
                },
                "velocity": {
                    "x": -4.09127140045166,
                    "y": -0.6982092261314392,
                    "z": -0.028520135208964348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.3017578125,
                "transform": {
                    "location": {
                        "x": 2877.0703125,
                        "y": 4246.9990234375,
                        "z": 360.3485412597656
                    },
                    "rotation": {
                        "roll": 0.0002055714576272294,
                        "pitch": -0.4174474775791168,
                        "yaw": -170.7965545654297
                    }
                },
                "velocity": {
                    "x": -12.143452644348145,
                    "y": -1.9653092622756958,
                    "z": -0.08572807163000107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.39154109358787537,
        "expert_target_speed": 10.0,
        "target_point": [
            30.866163676220022,
            4.084042588463404
        ],
        "target_point_next": [
            72.81725553455207,
            6.110235342843513
        ]
    },
    "310": {
        "acceleration": [
            -0.31215667724609375,
            -0.8153438568115234,
            0.00803530216217041
        ],
        "angular_velocity": [
            -0.07634348422288895,
            -0.398196816444397,
            5.256846904754639
        ],
        "forward_vector": [
            -0.9909107089042664,
            -0.1344519406557083,
            -0.004305706359446049
        ],
        "right_vector": [
            0.1344328671693802,
            -0.9909127354621887,
            0.004452216438949108
        ],
        "location": [
            2918.302490234375,
            4253.1669921875,
            360.63775634765625
        ],
        "rotation": [
            -0.255096435546875,
            -0.24669958651065826,
            -172.2729949951172
        ],
        "velocity": [
            -8.739015579223633,
            -1.2634421586990356,
            -0.06134626269340515
        ],
        "speed": 8.82987425631257,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.24742889404297,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2899.229736328125,
                4250.5830078125,
                360.5089111328125
            ],
            "velocity": [
                -11.438508987426758,
                -1.8531383275985718,
                -0.07944373786449432
            ],
            "speed_kmh": 41.71651679947523,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.085195541381836,
                "transform": {
                    "location": {
                        "x": 2869.512939453125,
                        "y": 4252.5322265625,
                        "z": 360.310302734375
                    },
                    "rotation": {
                        "roll": 0.007884878665208817,
                        "pitch": 0.8293078541755676,
                        "yaw": 9.545639991760254
                    }
                },
                "velocity": {
                    "x": 6.987995624542236,
                    "y": 1.1684941053390503,
                    "z": 0.050320472568273544
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.732120990753174,
                "transform": {
                    "location": {
                        "x": 2872.52734375,
                        "y": 4249.736328125,
                        "z": 360.3199157714844
                    },
                    "rotation": {
                        "roll": 0.0031472656410187483,
                        "pitch": 0.4320914149284363,
                        "yaw": 9.482794761657715
                    }
                },
                "velocity": {
                    "x": 7.627350330352783,
                    "y": 1.267433762550354,
                    "z": 0.05327790975570679
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.858023166656494,
                "transform": {
                    "location": {
                        "x": 2956.85400390625,
                        "y": 4259.908203125,
                        "z": 360.93402099609375
                    },
                    "rotation": {
                        "roll": 0.0025439001619815826,
                        "pitch": -0.7217050790786743,
                        "yaw": -170.80020141601562
                    }
                },
                "velocity": {
                    "x": -7.7566046714782715,
                    "y": -1.2568162679672241,
                    "z": -0.0634283646941185
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045735359191895,
                "transform": {
                    "location": {
                        "x": 2912.66845703125,
                        "y": 4259.54443359375,
                        "z": 360.6053466796875
                    },
                    "rotation": {
                        "roll": -0.0011901867110282183,
                        "pitch": 0.40424472093582153,
                        "yaw": 9.19533920288086
                    }
                },
                "velocity": {
                    "x": 7.94215726852417,
                    "y": 1.2856212854385376,
                    "z": 0.05641404911875725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018956184387207,
                "transform": {
                    "location": {
                        "x": 2914.75927734375,
                        "y": 4256.5888671875,
                        "z": 360.6147155761719
                    },
                    "rotation": {
                        "roll": 0.0006319084204733372,
                        "pitch": 0.4065806567668915,
                        "yaw": 9.193713188171387
                    }
                },
                "velocity": {
                    "x": 7.915746212005615,
                    "y": 1.2811846733093262,
                    "z": 0.056450050324201584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002168655395508,
                "transform": {
                    "location": {
                        "x": 2955.980224609375,
                        "y": 4263.26123046875,
                        "z": 360.9237060546875
                    },
                    "rotation": {
                        "roll": 0.0002575143298599869,
                        "pitch": 0.4571855068206787,
                        "yaw": 9.175033569335938
                    }
                },
                "velocity": {
                    "x": 7.899281024932861,
                    "y": 1.277477741241455,
                    "z": 0.0641794204711914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053000450134277,
                "transform": {
                    "location": {
                        "x": 2954.89208984375,
                        "y": 4266.37744140625,
                        "z": 360.9302673339844
                    },
                    "rotation": {
                        "roll": -0.000793451676145196,
                        "pitch": 0.4623423218727112,
                        "yaw": 9.180657386779785
                    }
                },
                "velocity": {
                    "x": 7.949441909790039,
                    "y": 1.2857105731964111,
                    "z": 0.0642799362540245
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4597,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2997.857666015625,
                        "y": 4269.93603515625,
                        "z": 361.30389404296875
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4612070322036743,
                "transform": {
                    "location": {
                        "x": 2953.761474609375,
                        "y": 4256.11376953125,
                        "z": 360.9015808105469
                    },
                    "rotation": {
                        "roll": 0.002415802562609315,
                        "pitch": -0.888334333896637,
                        "yaw": -170.80213928222656
                    }
                },
                "velocity": {
                    "x": -1.4424301385879517,
                    "y": -0.23324240744113922,
                    "z": -0.010914582759141922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.465882301330566,
                "transform": {
                    "location": {
                        "x": 2937.56689453125,
                        "y": 4256.78564453125,
                        "z": 360.7843017578125
                    },
                    "rotation": {
                        "roll": 0.0008959854603745043,
                        "pitch": -0.2943674623966217,
                        "yaw": -170.77374267578125
                    }
                },
                "velocity": {
                    "x": -5.395328998565674,
                    "y": -0.874390184879303,
                    "z": -0.04165958613157272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008865954587236047,
                "transform": {
                    "location": {
                        "x": 2941.82861328125,
                        "y": 4254.18310546875,
                        "z": 360.8150329589844
                    },
                    "rotation": {
                        "roll": 0.0006432440713979304,
                        "pitch": -0.24196626245975494,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0006848709308542311,
                    "y": 0.0001796866417862475,
                    "z": -0.0005335878813639283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.587922096252441,
                "transform": {
                    "location": {
                        "x": 2899.229736328125,
                        "y": 4250.5830078125,
                        "z": 360.5089111328125
                    },
                    "rotation": {
                        "roll": -0.0014038070803508162,
                        "pitch": -0.5292918086051941,
                        "yaw": -170.78977966308594
                    }
                },
                "velocity": {
                    "x": -11.438508987426758,
                    "y": -1.8531383275985718,
                    "z": -0.07944373786449432
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.965850293636322,
                "transform": {
                    "location": {
                        "x": 2888.88671875,
                        "y": 4245.64404296875,
                        "z": 360.436279296875
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": -0.24411094188690186,
                        "yaw": -170.52394104003906
                    }
                },
                "velocity": {
                    "x": -0.9525882601737976,
                    "y": -0.15935996174812317,
                    "z": -0.006846694741398096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2337751388549805,
                "transform": {
                    "location": {
                        "x": 2875.47705078125,
                        "y": 4243.515625,
                        "z": 360.3453063964844
                    },
                    "rotation": {
                        "roll": -0.0038146974984556437,
                        "pitch": -0.5034464001655579,
                        "yaw": -170.3444061279297
                    }
                },
                "velocity": {
                    "x": -5.159330368041992,
                    "y": -0.8790103197097778,
                    "z": -0.032465506345033646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.642702102661133,
                "transform": {
                    "location": {
                        "x": 2874.120361328125,
                        "y": 4246.52099609375,
                        "z": 360.3278503417969
                    },
                    "rotation": {
                        "roll": -3.051988096558489e-05,
                        "pitch": -0.41750895977020264,
                        "yaw": -170.80203247070312
                    }
                },
                "velocity": {
                    "x": -11.49272346496582,
                    "y": -1.8609684705734253,
                    "z": -0.08137862384319305
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4029430150985718,
        "expert_target_speed": 10.0,
        "target_point": [
            28.76711808261678,
            3.3904981021883325
        ],
        "target_point_next": [
            70.75339031462374,
            4.464047935179934
        ]
    },
    "315": {
        "acceleration": [
            -0.46794891357421875,
            -1.0943937301635742,
            -0.0009049475193023682
        ],
        "angular_velocity": [
            -0.2265278846025467,
            -0.22979655861854553,
            6.071239471435547
        ],
        "forward_vector": [
            -0.9872516393661499,
            -0.15907339751720428,
            -0.005458327475935221
        ],
        "right_vector": [
            0.15904422104358673,
            -0.9872565269470215,
            0.005421022418886423
        ],
        "location": [
            2916.1015625,
            4252.82373046875,
            360.6222839355469
        ],
        "rotation": [
            -0.3106078505516052,
            -0.312740683555603,
            -170.84674072265625
        ],
        "velocity": [
            -8.848631858825684,
            -1.5150364637374878,
            -0.06451991200447083
        ],
        "speed": 8.977395015230146,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.879241943359375,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2896.40673828125,
                4250.12548828125,
                360.48931884765625
            ],
            "velocity": [
                -11.380703926086426,
                -1.8426322937011719,
                -0.0784844309091568
            ],
            "speed_kmh": 41.50502988264027,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.504789352416992,
                "transform": {
                    "location": {
                        "x": 2871.420654296875,
                        "y": 4252.85107421875,
                        "z": 360.32464599609375
                    },
                    "rotation": {
                        "roll": 0.006823627278208733,
                        "pitch": 0.7439031600952148,
                        "yaw": 9.431904792785645
                    }
                },
                "velocity": {
                    "x": 8.389336585998535,
                    "y": 1.395356297492981,
                    "z": 0.058781690895557404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.776177406311035,
                "transform": {
                    "location": {
                        "x": 2874.582763671875,
                        "y": 4250.0771484375,
                        "z": 360.33441162109375
                    },
                    "rotation": {
                        "roll": 0.003829293418675661,
                        "pitch": 0.4319206476211548,
                        "yaw": 9.359128952026367
                    }
                },
                "velocity": {
                    "x": 8.659448623657227,
                    "y": 1.4253240823745728,
                    "z": 0.060753535479307175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.493510246276855,
                "transform": {
                    "location": {
                        "x": 2954.854736328125,
                        "y": 4259.58447265625,
                        "z": 360.91790771484375
                    },
                    "rotation": {
                        "roll": 0.0019326593028381467,
                        "pitch": -0.42327362298965454,
                        "yaw": -170.80572509765625
                    }
                },
                "velocity": {
                    "x": -8.384329795837402,
                    "y": -1.355843186378479,
                    "z": -0.06648807227611542
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078590393066406,
                "transform": {
                    "location": {
                        "x": 2914.658447265625,
                        "y": 4259.86669921875,
                        "z": 360.6195983886719
                    },
                    "rotation": {
                        "roll": 0.00026394607266411185,
                        "pitch": 0.4065055251121521,
                        "yaw": 9.195399284362793
                    }
                },
                "velocity": {
                    "x": 7.974572658538818,
                    "y": 1.2909504175186157,
                    "z": 0.057051658630371094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986910820007324,
                "transform": {
                    "location": {
                        "x": 2916.734375,
                        "y": 4256.908203125,
                        "z": 360.62884521484375
                    },
                    "rotation": {
                        "roll": 0.0012318665394559503,
                        "pitch": 0.4089575409889221,
                        "yaw": 9.19544792175293
                    }
                },
                "velocity": {
                    "x": 7.884031772613525,
                    "y": 1.276559591293335,
                    "z": 0.05642404407262802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002176284790039,
                "transform": {
                    "location": {
                        "x": 2957.955322265625,
                        "y": 4263.5810546875,
                        "z": 360.9397888183594
                    },
                    "rotation": {
                        "roll": 0.0008823368698358536,
                        "pitch": 0.46115386486053467,
                        "yaw": 9.198430061340332
                    }
                },
                "velocity": {
                    "x": 7.899238109588623,
                    "y": 1.277768850326538,
                    "z": 0.06459270417690277
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08246898651123,
                "transform": {
                    "location": {
                        "x": 2956.883056640625,
                        "y": 4266.69873046875,
                        "z": 360.94647216796875
                    },
                    "rotation": {
                        "roll": -0.001373292994685471,
                        "pitch": 0.4628887176513672,
                        "yaw": 9.184019088745117
                    }
                },
                "velocity": {
                    "x": 7.978461265563965,
                    "y": 1.2908395528793335,
                    "z": 0.06471357494592667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.298596143722534,
                "transform": {
                    "location": {
                        "x": 2953.265625,
                        "y": 4256.033203125,
                        "z": 360.89556884765625
                    },
                    "rotation": {
                        "roll": 0.0009193901205435395,
                        "pitch": -0.320520281791687,
                        "yaw": -170.78793334960938
                    }
                },
                "velocity": {
                    "x": -2.26889967918396,
                    "y": -0.3678733706474304,
                    "z": -0.017530860379338264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7521820068359375,
                "transform": {
                    "location": {
                        "x": 2936.137939453125,
                        "y": 4256.55419921875,
                        "z": 360.77362060546875
                    },
                    "rotation": {
                        "roll": 0.0013281918363645673,
                        "pitch": -0.22481566667556763,
                        "yaw": -170.7892608642578
                    }
                },
                "velocity": {
                    "x": -6.665130615234375,
                    "y": -1.0795749425888062,
                    "z": -0.05015579238533974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0018539180746302009,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8161926269531
                    },
                    "rotation": {
                        "roll": -0.00015258889470715076,
                        "pitch": -0.3904135823249817,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0003468469949439168,
                    "y": 0.00012149394024163485,
                    "z": -0.0018171265255659819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.5291748046875,
                "transform": {
                    "location": {
                        "x": 2896.40673828125,
                        "y": 4250.12548828125,
                        "z": 360.48931884765625
                    },
                    "rotation": {
                        "roll": 0.0008640937739983201,
                        "pitch": -0.43490543961524963,
                        "yaw": -170.80360412597656
                    }
                },
                "velocity": {
                    "x": -11.380703926086426,
                    "y": -1.8426322937011719,
                    "z": -0.0784844309091568
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2288763523101807,
                "transform": {
                    "location": {
                        "x": 2888.48486328125,
                        "y": 4245.57763671875,
                        "z": 360.4324035644531
                    },
                    "rotation": {
                        "roll": -0.0021057112608104944,
                        "pitch": -0.11788906157016754,
                        "yaw": -170.5087432861328
                    }
                },
                "velocity": {
                    "x": -2.1986608505249023,
                    "y": -0.36546242237091064,
                    "z": -0.014753894880414009
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.675612449645996,
                "transform": {
                    "location": {
                        "x": 2874.155517578125,
                        "y": 4243.2900390625,
                        "z": 360.3356018066406
                    },
                    "rotation": {
                        "roll": -0.00210572243668139,
                        "pitch": -0.45580580830574036,
                        "yaw": -170.38699340820312
                    }
                },
                "velocity": {
                    "x": -5.594622611999512,
                    "y": -0.9544732570648193,
                    "z": -0.041881851851940155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.06041145324707,
                "transform": {
                    "location": {
                        "x": 2871.32275390625,
                        "y": 4246.068359375,
                        "z": 360.30804443359375
                    },
                    "rotation": {
                        "roll": 0.00010952620505122468,
                        "pitch": -0.4284031093120575,
                        "yaw": -170.79798889160156
                    }
                },
                "velocity": {
                    "x": -10.917764663696289,
                    "y": -1.7688567638397217,
                    "z": -0.07918810844421387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3846294581890106,
        "expert_target_speed": 10.0,
        "target_point": [
            26.615090748537977,
            2.6846378363028798
        ],
        "target_point_next": [
            68.61507613924279,
            2.7127868096230525
        ]
    },
    "320": {
        "acceleration": [
            0.9204673767089844,
            -1.0124969482421875,
            0.010636299848556519
        ],
        "angular_velocity": [
            -0.23360709846019745,
            -0.37399816513061523,
            7.3058695793151855
        ],
        "forward_vector": [
            -0.9822290539741516,
            -0.18756438791751862,
            -0.006759710609912872
        ],
        "right_vector": [
            0.18752001225948334,
            -0.9822379350662231,
            0.006694450043141842
        ],
        "location": [
            2913.901611328125,
            4252.41796875,
            360.60675048828125
        ],
        "rotation": [
            -0.38357535004615784,
            -0.3873058557510376,
            -169.18907165527344
        ],
        "velocity": [
            -8.722946166992188,
            -1.7724347114562988,
            -0.06386198848485947
        ],
        "speed": 8.901197371063,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 20.501279830932617,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2893.5859375,
                4249.6689453125,
                360.46990966796875
            ],
            "velocity": [
                -10.896607398986816,
                -1.7631795406341553,
                -0.07559357583522797
            ],
            "speed_kmh": 39.73894032285952,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.313472747802734,
                "transform": {
                    "location": {
                        "x": 2873.509033203125,
                        "y": 4253.1962890625,
                        "z": 360.341796875
                    },
                    "rotation": {
                        "roll": 0.011906766332685947,
                        "pitch": 0.43407899141311646,
                        "yaw": 9.34508228302002
                    }
                },
                "velocity": {
                    "x": 8.203338623046875,
                    "y": 1.3474493026733398,
                    "z": 0.05873376876115799
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.231047630310059,
                "transform": {
                    "location": {
                        "x": 2876.671875,
                        "y": 4250.42041015625,
                        "z": 360.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0004387929802760482,
                        "pitch": 0.3880845010280609,
                        "yaw": 9.285680770874023
                    }
                },
                "velocity": {
                    "x": 8.122384071350098,
                    "y": 1.331856608390808,
                    "z": 0.05635358765721321
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.747504234313965,
                "transform": {
                    "location": {
                        "x": 2952.67138671875,
                        "y": 4259.23193359375,
                        "z": 360.9006652832031
                    },
                    "rotation": {
                        "roll": 0.001604406745173037,
                        "pitch": -0.4015194773674011,
                        "yaw": -170.81297302246094
                    }
                },
                "velocity": {
                    "x": -8.635034561157227,
                    "y": -1.3965559005737305,
                    "z": -0.0680958554148674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044678688049316,
                "transform": {
                    "location": {
                        "x": 2916.6474609375,
                        "y": 4260.18896484375,
                        "z": 360.6339111328125
                    },
                    "rotation": {
                        "roll": 0.0006810851627960801,
                        "pitch": 0.4083086848258972,
                        "yaw": 9.195528984069824
                    }
                },
                "velocity": {
                    "x": 7.941100120544434,
                    "y": 1.2855284214019775,
                    "z": 0.05652347579598427
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019287109375,
                "transform": {
                    "location": {
                        "x": 2918.709228515625,
                        "y": 4257.2275390625,
                        "z": 360.6431579589844
                    },
                    "rotation": {
                        "roll": 0.0015028800116851926,
                        "pitch": 0.4094083607196808,
                        "yaw": 9.202559471130371
                    }
                },
                "velocity": {
                    "x": 7.915743827819824,
                    "y": 1.2832703590393066,
                    "z": 0.05638581141829491
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002023696899414,
                "transform": {
                    "location": {
                        "x": 2959.93017578125,
                        "y": 4263.90185546875,
                        "z": 360.9558410644531
                    },
                    "rotation": {
                        "roll": 0.00033614799031056464,
                        "pitch": 0.47019702196121216,
                        "yaw": 9.177241325378418
                    }
                },
                "velocity": {
                    "x": 7.899079322814941,
                    "y": 1.2778137922286987,
                    "z": 0.06422325223684311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052085876464844,
                "transform": {
                    "location": {
                        "x": 2958.8740234375,
                        "y": 4267.02099609375,
                        "z": 360.9627685546875
                    },
                    "rotation": {
                        "roll": 0.00022452672419603914,
                        "pitch": 0.4719865322113037,
                        "yaw": 9.189252853393555
                    }
                },
                "velocity": {
                    "x": 7.948496341705322,
                    "y": 1.2858219146728516,
                    "z": 0.06444082409143448
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005267134867608547,
                "transform": {
                    "location": {
                        "x": 2952.958251953125,
                        "y": 4255.984375,
                        "z": 360.89581298828125
                    },
                    "rotation": {
                        "roll": -0.003540050471201539,
                        "pitch": -1.011619210243225,
                        "yaw": -170.67880249023438
                    }
                },
                "velocity": {
                    "x": -0.005156632512807846,
                    "y": -0.00017228498472832143,
                    "z": -0.0010593252955004573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.21363353729248,
                "transform": {
                    "location": {
                        "x": 2934.25048828125,
                        "y": 4256.24853515625,
                        "z": 360.7596130371094
                    },
                    "rotation": {
                        "roll": -0.002044677734375,
                        "pitch": -0.19350607693195343,
                        "yaw": -170.74855041503906
                    }
                },
                "velocity": {
                    "x": -8.107355117797852,
                    "y": -1.315618872642517,
                    "z": -0.06104033440351486
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.038594245910645,
                "transform": {
                    "location": {
                        "x": 2893.5859375,
                        "y": 4249.6689453125,
                        "z": 360.46990966796875
                    },
                    "rotation": {
                        "roll": 0.0005356185720302165,
                        "pitch": -0.4831812083721161,
                        "yaw": -170.8012237548828
                    }
                },
                "velocity": {
                    "x": -10.896607398986816,
                    "y": -1.7631795406341553,
                    "z": -0.07559357583522797
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.038205623626709,
                "transform": {
                    "location": {
                        "x": 2887.713623046875,
                        "y": 4245.44873046875,
                        "z": 360.4261779785156
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": 0.0026637737173587084,
                        "yaw": -170.53952026367188
                    }
                },
                "velocity": {
                    "x": -3.9834325313568115,
                    "y": -0.6623130440711975,
                    "z": -0.026717372238636017
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.593025207519531,
                "transform": {
                    "location": {
                        "x": 2872.6953125,
                        "y": 4243.04150390625,
                        "z": 360.3252258300781
                    },
                    "rotation": {
                        "roll": -0.0036315876059234142,
                        "pitch": -0.48165807127952576,
                        "yaw": -170.3404083251953
                    }
                },
                "velocity": {
                    "x": -6.499329566955566,
                    "y": -1.106587529182434,
                    "z": -0.046499159187078476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.390151023864746,
                "transform": {
                    "location": {
                        "x": 2868.68115234375,
                        "y": 4245.64013671875,
                        "z": 360.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00046121751074679196,
                        "pitch": -0.4308210015296936,
                        "yaw": -170.7950439453125
                    }
                },
                "velocity": {
                    "x": -10.25618839263916,
                    "y": -1.6613715887069702,
                    "z": -0.07537032663822174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.273206889629364,
        "expert_target_speed": 10.0,
        "target_point": [
            24.444598252750005,
            1.9276978390654795
        ],
        "target_point_next": [
            66.4278219146834,
            0.74089704019819
        ]
    },
    "325": {
        "acceleration": [
            0.00621795654296875,
            -1.5492057800292969,
            0.0028124451637268066
        ],
        "angular_velocity": [
            -0.456197589635849,
            -0.008834042586386204,
            9.06941032409668
        ],
        "forward_vector": [
            -0.9746930003166199,
            -0.2234320342540741,
            -0.007191595621407032
        ],
        "right_vector": [
            0.22337037324905396,
            -0.9746967554092407,
            0.0084749236702919
        ],
        "location": [
            2911.733154296875,
            4251.9384765625,
            360.5912170410156
        ],
        "rotation": [
            -0.4855957329273224,
            -0.41205161809921265,
            -167.08897399902344
        ],
        "velocity": [
            -8.635247230529785,
            -2.1136298179626465,
            -0.06350056827068329
        ],
        "speed": 8.890158926574548,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.039791107177734,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2890.868896484375,
                4249.22998046875,
                360.4512023925781
            ],
            "velocity": [
                -11.023119926452637,
                -1.7824653387069702,
                -0.07544694095849991
            ],
            "speed_kmh": 40.19961367942028,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.915563106536865,
                "transform": {
                    "location": {
                        "x": 2875.502197265625,
                        "y": 4253.5234375,
                        "z": 360.3571472167969
                    },
                    "rotation": {
                        "roll": 0.004951655864715576,
                        "pitch": 0.25980672240257263,
                        "yaw": 9.288846969604492
                    }
                },
                "velocity": {
                    "x": 7.81170654296875,
                    "y": 1.2768304347991943,
                    "z": 0.055568914860486984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.052788734436035,
                "transform": {
                    "location": {
                        "x": 2878.6708984375,
                        "y": 4250.74755859375,
                        "z": 360.3633117675781
                    },
                    "rotation": {
                        "roll": 0.0009467563359066844,
                        "pitch": 0.3863837718963623,
                        "yaw": 9.243786811828613
                    }
                },
                "velocity": {
                    "x": 7.947804927825928,
                    "y": 1.2948310375213623,
                    "z": 0.05673699080944061
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.130575180053711,
                "transform": {
                    "location": {
                        "x": 2950.620361328125,
                        "y": 4258.89990234375,
                        "z": 360.884521484375
                    },
                    "rotation": {
                        "roll": 0.0007411072729155421,
                        "pitch": -0.5308490991592407,
                        "yaw": -170.8099822998047
                    }
                },
                "velocity": {
                    "x": -8.025956153869629,
                    "y": -1.2984904050827026,
                    "z": -0.06482812762260437
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07863998413086,
                "transform": {
                    "location": {
                        "x": 2918.63720703125,
                        "y": 4260.5107421875,
                        "z": 360.6483154296875
                    },
                    "rotation": {
                        "roll": -0.0001831024419516325,
                        "pitch": 0.4103918969631195,
                        "yaw": 9.191957473754883
                    }
                },
                "velocity": {
                    "x": 7.974706172943115,
                    "y": 1.2904502153396606,
                    "z": 0.05679852515459061
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987248420715332,
                "transform": {
                    "location": {
                        "x": 2920.684326171875,
                        "y": 4257.5478515625,
                        "z": 360.6574401855469
                    },
                    "rotation": {
                        "roll": 0.0005935847875662148,
                        "pitch": 0.41224971413612366,
                        "yaw": 9.209609985351562
                    }
                },
                "velocity": {
                    "x": 7.8840861320495605,
                    "y": 1.2783175706863403,
                    "z": 0.05680251866579056
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00174331665039,
                "transform": {
                    "location": {
                        "x": 2961.905029296875,
                        "y": 4264.22119140625,
                        "z": 360.9722595214844
                    },
                    "rotation": {
                        "roll": 0.00037895148852840066,
                        "pitch": 0.46996480226516724,
                        "yaw": 9.195155143737793
                    }
                },
                "velocity": {
                    "x": 7.898928642272949,
                    "y": 1.2769402265548706,
                    "z": 0.0652012974023819
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082704544067383,
                "transform": {
                    "location": {
                        "x": 2960.864990234375,
                        "y": 4267.34375,
                        "z": 360.9792175292969
                    },
                    "rotation": {
                        "roll": -0.0006713861366733909,
                        "pitch": 0.4768359661102295,
                        "yaw": 9.192330360412598
                    }
                },
                "velocity": {
                    "x": 7.978655815124512,
                    "y": 1.291105031967163,
                    "z": 0.06492900848388672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.059080719947815,
                "transform": {
                    "location": {
                        "x": 2952.797119140625,
                        "y": 4255.95849609375,
                        "z": 360.892578125
                    },
                    "rotation": {
                        "roll": -0.002044678432866931,
                        "pitch": -0.49826228618621826,
                        "yaw": -170.6659393310547
                    }
                },
                "velocity": {
                    "x": -1.045268177986145,
                    "y": -0.17028038203716278,
                    "z": -0.008419780991971493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.465843200683594,
                "transform": {
                    "location": {
                        "x": 2932.0634765625,
                        "y": 4255.8935546875,
                        "z": 360.7432861328125
                    },
                    "rotation": {
                        "roll": -0.0012817385140806437,
                        "pitch": -0.2186889797449112,
                        "yaw": -170.73939514160156
                    }
                },
                "velocity": {
                    "x": -9.343358039855957,
                    "y": -1.5162349939346313,
                    "z": -0.06992848962545395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.166559219360352,
                "transform": {
                    "location": {
                        "x": 2890.868896484375,
                        "y": 4249.22998046875,
                        "z": 360.4512023925781
                    },
                    "rotation": {
                        "roll": -0.00021362192637752742,
                        "pitch": -0.396178275346756,
                        "yaw": -170.82327270507812
                    }
                },
                "velocity": {
                    "x": -11.023119926452637,
                    "y": -1.7824653387069702,
                    "z": -0.07544694095849991
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.410735607147217,
                "transform": {
                    "location": {
                        "x": 2886.494384765625,
                        "y": 4245.24755859375,
                        "z": 360.41815185546875
                    },
                    "rotation": {
                        "roll": 0.006573014426976442,
                        "pitch": -0.010006226599216461,
                        "yaw": -170.58518981933594
                    }
                },
                "velocity": {
                    "x": -5.338985919952393,
                    "y": -0.8775207996368408,
                    "z": -0.035318393260240555
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.089798927307129,
                "transform": {
                    "location": {
                        "x": 2870.85400390625,
                        "y": 4242.73193359375,
                        "z": 360.31256103515625
                    },
                    "rotation": {
                        "roll": -0.007659913972020149,
                        "pitch": -0.5510186553001404,
                        "yaw": -170.4569549560547
                    }
                },
                "velocity": {
                    "x": -7.980269432067871,
                    "y": -1.3254367113113403,
                    "z": -0.057963501662015915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.817216873168945,
                "transform": {
                    "location": {
                        "x": 2866.1884765625,
                        "y": 4245.236328125,
                        "z": 360.2708435058594
                    },
                    "rotation": {
                        "roll": 0.00013783499889541417,
                        "pitch": -0.43207091093063354,
                        "yaw": -170.79824829101562
                    }
                },
                "velocity": {
                    "x": -9.690850257873535,
                    "y": -1.568448781967163,
                    "z": -0.07162388414144516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0003900527954102,
        "expert_target_speed": 10.0,
        "target_point": [
            22.278050057847548,
            1.0477567051450496
        ],
        "target_point_next": [
            64.18958307258752,
            -1.676755276564247
        ]
    },
    "330": {
        "acceleration": [
            0.11083602905273438,
            -1.1289072036743164,
            0.006539002060890198
        ],
        "angular_velocity": [
            0.1086752787232399,
            0.1239214763045311,
            8.521048545837402
        ],
        "forward_vector": [
            -0.9651936292648315,
            -0.2614458501338959,
            -0.006879989989101887
        ],
        "right_vector": [
            0.2613791525363922,
            -0.9651916027069092,
            0.009279698133468628
        ],
        "location": [
            2909.580322265625,
            4251.37353515625,
            360.57550048828125
        ],
        "rotation": [
            -0.531707763671875,
            -0.3941975235939026,
            -164.84376525878906
        ],
        "velocity": [
            -8.592809677124023,
            -2.449615716934204,
            -0.061734750866889954
        ],
        "speed": 8.935155024280627,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.537309646606445,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2888.197998046875,
                4248.79833984375,
                360.4328918457031
            ],
            "velocity": [
                -10.199188232421875,
                -1.6495167016983032,
                -0.07079800218343735
            ],
            "speed_kmh": 37.19504918204052,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.033336639404297,
                "transform": {
                    "location": {
                        "x": 2877.4619140625,
                        "y": 4253.84326171875,
                        "z": 360.3697814941406
                    },
                    "rotation": {
                        "roll": 0.004322130233049393,
                        "pitch": 0.3863837718963623,
                        "yaw": 9.260640144348145
                    }
                },
                "velocity": {
                    "x": 7.928822040557861,
                    "y": 1.2904022932052612,
                    "z": 0.05599941313266754
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.77092981338501,
                "transform": {
                    "location": {
                        "x": 2880.443359375,
                        "y": 4251.0361328125,
                        "z": 360.3759765625
                    },
                    "rotation": {
                        "roll": 0.0010826174402609468,
                        "pitch": 0.3556274473667145,
                        "yaw": 9.19469165802002
                    }
                },
                "velocity": {
                    "x": 6.683202266693115,
                    "y": 1.085444688796997,
                    "z": 0.04594767466187477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.900622367858887,
                "transform": {
                    "location": {
                        "x": 2948.533935546875,
                        "y": 4258.5625,
                        "z": 360.86834716796875
                    },
                    "rotation": {
                        "roll": 0.0016926612006500363,
                        "pitch": -0.34155726432800293,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -8.78602123260498,
                    "y": -1.4221223592758179,
                    "z": -0.066978320479393
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045546531677246,
                "transform": {
                    "location": {
                        "x": 2920.626708984375,
                        "y": 4260.83251953125,
                        "z": 360.6627197265625
                    },
                    "rotation": {
                        "roll": 0.0006528068915940821,
                        "pitch": 0.4125707149505615,
                        "yaw": 9.191486358642578
                    }
                },
                "velocity": {
                    "x": 7.942042827606201,
                    "y": 1.2851145267486572,
                    "z": 0.05704216659069061
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0193452835083,
                "transform": {
                    "location": {
                        "x": 2922.659423828125,
                        "y": 4257.8681640625,
                        "z": 360.671875
                    },
                    "rotation": {
                        "roll": 0.0008781122742220759,
                        "pitch": 0.4128507673740387,
                        "yaw": 9.20939826965332
                    }
                },
                "velocity": {
                    "x": 7.915836811065674,
                    "y": 1.2830485105514526,
                    "z": 0.05676217004656792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001151084899902,
                "transform": {
                    "location": {
                        "x": 2963.879638671875,
                        "y": 4264.5400390625,
                        "z": 360.98876953125
                    },
                    "rotation": {
                        "roll": 9.701673843665048e-05,
                        "pitch": 0.47834545373916626,
                        "yaw": 9.166254043579102
                    }
                },
                "velocity": {
                    "x": 7.898463726043701,
                    "y": 1.2760488986968994,
                    "z": 0.06621171534061432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.051925659179688,
                "transform": {
                    "location": {
                        "x": 2962.85595703125,
                        "y": 4267.66552734375,
                        "z": 360.9957580566406
                    },
                    "rotation": {
                        "roll": -0.00012206388055346906,
                        "pitch": 0.4793836176395416,
                        "yaw": 9.193832397460938
                    }
                },
                "velocity": {
                    "x": 7.948080062866211,
                    "y": 1.2872763872146606,
                    "z": 0.06672622263431549
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8631645441055298,
                "transform": {
                    "location": {
                        "x": 2952.4296875,
                        "y": 4255.8984375,
                        "z": 360.8887023925781
                    },
                    "rotation": {
                        "roll": -0.0011596691329032183,
                        "pitch": -0.2317483127117157,
                        "yaw": -170.68106079101562
                    }
                },
                "velocity": {
                    "x": -1.8389860391616821,
                    "y": -0.2988448739051819,
                    "z": -0.014293279498815536
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.03221607208252,
                "transform": {
                    "location": {
                        "x": 2929.60888671875,
                        "y": 4255.49560546875,
                        "z": 360.7249450683594
                    },
                    "rotation": {
                        "roll": 0.0007737479754723608,
                        "pitch": -0.2998657822608948,
                        "yaw": -170.78639221191406
                    }
                },
                "velocity": {
                    "x": -9.902969360351562,
                    "y": -1.6035277843475342,
                    "z": -0.07250858098268509
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.331957817077637,
                "transform": {
                    "location": {
                        "x": 2888.197998046875,
                        "y": 4248.79833984375,
                        "z": 360.4328918457031
                    },
                    "rotation": {
                        "roll": -0.0014343223301693797,
                        "pitch": -0.521327793598175,
                        "yaw": -170.8094940185547
                    }
                },
                "velocity": {
                    "x": -10.199188232421875,
                    "y": -1.6495167016983032,
                    "z": -0.07079800218343735
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.749195575714111,
                "transform": {
                    "location": {
                        "x": 2885.006103515625,
                        "y": 4245.0029296875,
                        "z": 360.4088439941406
                    },
                    "rotation": {
                        "roll": 0.0031047891825437546,
                        "pitch": -0.1313786804676056,
                        "yaw": -170.63577270507812
                    }
                },
                "velocity": {
                    "x": -6.660231590270996,
                    "y": -1.0912413597106934,
                    "z": -0.04639274999499321
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.976923942565918,
                "transform": {
                    "location": {
                        "x": 2868.74365234375,
                        "y": 4242.38134765625,
                        "z": 360.2969970703125
                    },
                    "rotation": {
                        "roll": -0.0015869179042056203,
                        "pitch": -0.5102834105491638,
                        "yaw": -170.54666137695312
                    }
                },
                "velocity": {
                    "x": -8.85567569732666,
                    "y": -1.4690569639205933,
                    "z": -0.0636041909456253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.25623893737793,
                "transform": {
                    "location": {
                        "x": 2863.841796875,
                        "y": 4244.85595703125,
                        "z": 360.2535095214844
                    },
                    "rotation": {
                        "roll": 0.0006294531631283462,
                        "pitch": -0.44039690494537354,
                        "yaw": -170.8026123046875
                    }
                },
                "velocity": {
                    "x": -9.136983871459961,
                    "y": -1.4795019626617432,
                    "z": -0.0674763098359108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.001393437385559,
        "expert_target_speed": 10.0,
        "target_point": [
            20.076340667012122,
            0.1917588553994678
        ],
        "target_point_next": [
            61.84896391796529,
            -4.172586676068425
        ]
    },
    "335": {
        "acceleration": [
            -1.3765907287597656,
            -1.2283802032470703,
            -0.013002976775169373
        ],
        "angular_velocity": [
            0.2077666074037552,
            0.45321574807167053,
            5.2237019538879395
        ],
        "forward_vector": [
            -0.9571272134780884,
            -0.2896116375923157,
            -0.005713431164622307
        ],
        "right_vector": [
            0.28956466913223267,
            -0.9571263790130615,
            0.007833213545382023
        ],
        "location": [
            2907.407958984375,
            4250.72998046875,
            360.55963134765625
        ],
        "rotation": [
            -0.4488219618797302,
            -0.32735729217529297,
            -163.16500854492188
        ],
        "velocity": [
            -8.797900199890137,
            -2.735558032989502,
            -0.06218860670924187
        ],
        "speed": 9.21337753915904,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.873268127441406,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2885.660888671875,
                4248.38818359375,
                360.4153747558594
            ],
            "velocity": [
                -10.326269149780273,
                -1.6697087287902832,
                -0.06935299932956696
            ],
            "speed_kmh": 37.65823214571535,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.13811206817627,
                "transform": {
                    "location": {
                        "x": 2879.46484375,
                        "y": 4254.16943359375,
                        "z": 360.3831481933594
                    },
                    "rotation": {
                        "roll": 0.002549114404246211,
                        "pitch": 0.4534425735473633,
                        "yaw": 9.233500480651855
                    }
                },
                "velocity": {
                    "x": 8.032662391662598,
                    "y": 1.304617166519165,
                    "z": 0.05643271282315254
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.079277038574219,
                "transform": {
                    "location": {
                        "x": 2882.1318359375,
                        "y": 4251.31005859375,
                        "z": 360.38720703125
                    },
                    "rotation": {
                        "roll": 0.00077580485958606,
                        "pitch": 0.3917728066444397,
                        "yaw": 9.176912307739258
                    }
                },
                "velocity": {
                    "x": 6.988044738769531,
                    "y": 1.131917119026184,
                    "z": 0.04650852084159851
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.961286544799805,
                "transform": {
                    "location": {
                        "x": 2946.24462890625,
                        "y": 4258.19091796875,
                        "z": 360.8507995605469
                    },
                    "rotation": {
                        "roll": 0.0019454403081908822,
                        "pitch": -0.22790974378585815,
                        "yaw": -170.80462646484375
                    }
                },
                "velocity": {
                    "x": -9.833202362060547,
                    "y": -1.590555191040039,
                    "z": -0.07405707985162735
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078115463256836,
                "transform": {
                    "location": {
                        "x": 2922.6162109375,
                        "y": 4261.154296875,
                        "z": 360.6772155761719
                    },
                    "rotation": {
                        "roll": 0.0005427505820989609,
                        "pitch": 0.4119286835193634,
                        "yaw": 9.193180084228516
                    }
                },
                "velocity": {
                    "x": 7.9742751121521,
                    "y": 1.2898036241531372,
                    "z": 0.05731306970119476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987358093261719,
                "transform": {
                    "location": {
                        "x": 2924.63427734375,
                        "y": 4258.1884765625,
                        "z": 360.686279296875
                    },
                    "rotation": {
                        "roll": -0.00039672828279435635,
                        "pitch": 0.4139709174633026,
                        "yaw": 9.205658912658691
                    }
                },
                "velocity": {
                    "x": 7.884288787841797,
                    "y": 1.2777817249298096,
                    "z": 0.05617108196020126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001514434814453,
                "transform": {
                    "location": {
                        "x": 2965.854248046875,
                        "y": 4264.8583984375,
                        "z": 361.0054931640625
                    },
                    "rotation": {
                        "roll": 6.666342233074829e-05,
                        "pitch": 0.48393937945365906,
                        "yaw": 9.18981647491455
                    }
                },
                "velocity": {
                    "x": 7.8987135887146,
                    "y": 1.2767126560211182,
                    "z": 0.06756684929132462
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082428932189941,
                "transform": {
                    "location": {
                        "x": 2964.846923828125,
                        "y": 4267.98779296875,
                        "z": 361.0126037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.48936253786087036,
                        "yaw": 9.195747375488281
                    }
                },
                "velocity": {
                    "x": 7.978274345397949,
                    "y": 1.291551947593689,
                    "z": 0.06852062046527863
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.095658779144287,
                "transform": {
                    "location": {
                        "x": 2951.89013671875,
                        "y": 4255.81103515625,
                        "z": 360.8846435546875
                    },
                    "rotation": {
                        "roll": 0.0004996691714040935,
                        "pitch": -0.2514602243900299,
                        "yaw": -170.71910095214844
                    }
                },
                "velocity": {
                    "x": -2.068655490875244,
                    "y": -0.3349272906780243,
                    "z": -0.016543693840503693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.853445053100586,
                "transform": {
                    "location": {
                        "x": 2927.282470703125,
                        "y": 4255.1201171875,
                        "z": 360.70751953125
                    },
                    "rotation": {
                        "roll": 0.0010522943921387196,
                        "pitch": -0.5307261347770691,
                        "yaw": -170.8434295654297
                    }
                },
                "velocity": {
                    "x": -8.739935874938965,
                    "y": -1.411705732345581,
                    "z": -0.0639236718416214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.460619926452637,
                "transform": {
                    "location": {
                        "x": 2885.660888671875,
                        "y": 4248.38818359375,
                        "z": 360.4153747558594
                    },
                    "rotation": {
                        "roll": 0.00016392870747949928,
                        "pitch": -0.40939468145370483,
                        "yaw": -170.8234405517578
                    }
                },
                "velocity": {
                    "x": -10.326269149780273,
                    "y": -1.6697087287902832,
                    "z": -0.06935299932956696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091629981994629,
                "transform": {
                    "location": {
                        "x": 2883.170654296875,
                        "y": 4244.70263671875,
                        "z": 360.3961486816406
                    },
                    "rotation": {
                        "roll": -0.002075194614008069,
                        "pitch": -0.1307639628648758,
                        "yaw": -170.54193115234375
                    }
                },
                "velocity": {
                    "x": -7.984684467315674,
                    "y": -1.3100553750991821,
                    "z": -0.05517648532986641
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.84183406829834,
                "transform": {
                    "location": {
                        "x": 2866.40966796875,
                        "y": 4241.9951171875,
                        "z": 360.2799072265625
                    },
                    "rotation": {
                        "roll": -0.005187987815588713,
                        "pitch": -0.49783197045326233,
                        "yaw": -170.6120147705078
                    }
                },
                "velocity": {
                    "x": -9.71191120147705,
                    "y": -1.5922776460647583,
                    "z": -0.07164614647626877
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.763883590698242,
                "transform": {
                    "location": {
                        "x": 2861.673095703125,
                        "y": 4244.50537109375,
                        "z": 360.23760986328125
                    },
                    "rotation": {
                        "roll": -0.0008850123267620802,
                        "pitch": -0.46624234318733215,
                        "yaw": -170.80389404296875
                    }
                },
                "velocity": {
                    "x": -7.663917541503906,
                    "y": -1.2405412197113037,
                    "z": -0.05751463770866394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9988069534301758,
        "expert_target_speed": 10.0,
        "target_point": [
            17.807695395021327,
            -0.3833018689083749
        ],
        "target_point_next": [
            59.43453102171651,
            -5.96954576729107
        ]
    },
    "340": {
        "acceleration": [
            -1.2913703918457031,
            -0.2792787551879883,
            0.0005276501178741455
        ],
        "angular_velocity": [
            0.7859855890274048,
            0.4113781750202179,
            0.879208505153656
        ],
        "forward_vector": [
            -0.9530357718467712,
            -0.3028237223625183,
            -0.0045369709841907024
        ],
        "right_vector": [
            0.3028019070625305,
            -0.9530408382415771,
            0.004920386243611574
        ],
        "location": [
            2905.163330078125,
            4250.0244140625,
            360.5431823730469
        ],
        "rotation": [
            -0.2819214165210724,
            -0.2599501609802246,
            -162.37252807617188
        ],
        "velocity": [
            -9.142431259155273,
            -2.90975284576416,
            -0.06505650281906128
        ],
        "speed": 9.594306173549608,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.225643157958984,
        "front_vehicle_info": {
            "id": 4589,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2883.033935546875,
                4247.96337890625,
                360.39739990234375
            ],
            "velocity": [
                -10.295707702636719,
                -1.664603352546692,
                -0.07143580168485641
            ],
            "speed_kmh": 37.54674092690254,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070363998413086,
                "transform": {
                    "location": {
                        "x": 2881.464599609375,
                        "y": 4254.494140625,
                        "z": 360.3974914550781
                    },
                    "rotation": {
                        "roll": 0.001210197457112372,
                        "pitch": 0.38094010949134827,
                        "yaw": 9.222508430480957
                    }
                },
                "velocity": {
                    "x": 7.9658026695251465,
                    "y": 1.2936739921569824,
                    "z": 0.05625404417514801
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.732422828674316,
                "transform": {
                    "location": {
                        "x": 2883.988037109375,
                        "y": 4251.6103515625,
                        "z": 360.39971923828125
                    },
                    "rotation": {
                        "roll": 0.00013981902156956494,
                        "pitch": 0.41119101643562317,
                        "yaw": 9.180871963500977
                    }
                },
                "velocity": {
                    "x": 7.63295316696167,
                    "y": 1.2351458072662354,
                    "z": 0.05295129492878914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.29202651977539,
                "transform": {
                    "location": {
                        "x": 2943.67431640625,
                        "y": 4257.775390625,
                        "z": 360.83135986328125
                    },
                    "rotation": {
                        "roll": 0.001805401872843504,
                        "pitch": -0.326052725315094,
                        "yaw": -170.81723022460938
                    }
                },
                "velocity": {
                    "x": -10.15973949432373,
                    "y": -1.6430261135101318,
                    "z": -0.07730760425329208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04525089263916,
                "transform": {
                    "location": {
                        "x": 2924.60546875,
                        "y": 4261.47607421875,
                        "z": 360.69171142578125
                    },
                    "rotation": {
                        "roll": -3.052320607821457e-05,
                        "pitch": 0.4147290587425232,
                        "yaw": 9.194059371948242
                    }
                },
                "velocity": {
                    "x": 7.941686630249023,
                    "y": 1.2854653596878052,
                    "z": 0.05703553184866905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019102096557617,
                "transform": {
                    "location": {
                        "x": 2926.609375,
                        "y": 4258.5078125,
                        "z": 360.70074462890625
                    },
                    "rotation": {
                        "roll": -0.0010986255947500467,
                        "pitch": 0.41692155599594116,
                        "yaw": 9.196331024169922
                    }
                },
                "velocity": {
                    "x": 7.9158782958984375,
                    "y": 1.2812546491622925,
                    "z": 0.05704648792743683
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001909255981445,
                "transform": {
                    "location": {
                        "x": 2967.8291015625,
                        "y": 4265.17822265625,
                        "z": 361.0224914550781
                    },
                    "rotation": {
                        "roll": 0.0005502001149579883,
                        "pitch": 0.4856742322444916,
                        "yaw": 9.175102233886719
                    }
                },
                "velocity": {
                    "x": 7.898995399475098,
                    "y": 1.277406930923462,
                    "z": 0.06822887063026428
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052085876464844,
                "transform": {
                    "location": {
                        "x": 2966.83740234375,
                        "y": 4268.31005859375,
                        "z": 361.0296936035156
                    },
                    "rotation": {
                        "roll": 0.00013112238957546651,
                        "pitch": 0.48923274874687195,
                        "yaw": 9.195939064025879
                    }
                },
                "velocity": {
                    "x": 7.948314189910889,
                    "y": 1.286749243736267,
                    "z": 0.06824878603219986
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0034572721924632788,
                "transform": {
                    "location": {
                        "x": 2951.799560546875,
                        "y": 4255.79541015625,
                        "z": 360.886474609375
                    },
                    "rotation": {
                        "roll": 0.0024306809064000845,
                        "pitch": -0.9405784606933594,
                        "yaw": -170.8363800048828
                    }
                },
                "velocity": {
                    "x": 0.003412429941818118,
                    "y": 0.00035349346580915153,
                    "z": -0.00042789618601091206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.823812484741211,
                "transform": {
                    "location": {
                        "x": 2925.135009765625,
                        "y": 4254.77294921875,
                        "z": 360.6918640136719
                    },
                    "rotation": {
                        "roll": 0.0005283019854687154,
                        "pitch": -0.44888684153556824,
                        "yaw": -170.80990600585938
                    }
                },
                "velocity": {
                    "x": -8.710433006286621,
                    "y": -1.4084820747375488,
                    "z": -0.06482037156820297
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.42965030670166,
                "transform": {
                    "location": {
                        "x": 2883.033935546875,
                        "y": 4247.96337890625,
                        "z": 360.39739990234375
                    },
                    "rotation": {
                        "roll": 0.0012223939411342144,
                        "pitch": -0.4034114480018616,
                        "yaw": -170.80661010742188
                    }
                },
                "velocity": {
                    "x": -10.295707702636719,
                    "y": -1.664603352546692,
                    "z": -0.07143580168485641
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.633564949035645,
                "transform": {
                    "location": {
                        "x": 2880.940673828125,
                        "y": 4244.33642578125,
                        "z": 360.3797912597656
                    },
                    "rotation": {
                        "roll": 0.003356342203915119,
                        "pitch": -0.01773116923868656,
                        "yaw": -170.61138916015625
                    }
                },
                "velocity": {
                    "x": -9.507158279418945,
                    "y": -1.5541021823883057,
                    "z": -0.06540178507566452
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.392280578613281,
                "transform": {
                    "location": {
                        "x": 2864.012939453125,
                        "y": 4241.6015625,
                        "z": 360.2613525390625
                    },
                    "rotation": {
                        "roll": -0.0038147016894072294,
                        "pitch": -0.4032270312309265,
                        "yaw": -170.694580078125
                    }
                },
                "velocity": {
                    "x": -9.268983840942383,
                    "y": -1.515309453010559,
                    "z": -0.0685819610953331
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.211423873901367,
                "transform": {
                    "location": {
                        "x": 2859.865478515625,
                        "y": 4244.21240234375,
                        "z": 360.2239685058594
                    },
                    "rotation": {
                        "roll": -0.0009460474248044193,
                        "pitch": -0.4528210163116455,
                        "yaw": -170.80288696289062
                    }
                },
                "velocity": {
                    "x": -7.118677139282227,
                    "y": -1.151633620262146,
                    "z": -0.052989013493061066
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5215966701507568,
        "expert_target_speed": 10.0,
        "target_point": [
            15.447792644118847,
            -0.622261416334613
        ],
        "target_point_next": [
            56.9933850689792,
            -6.783699174804861
        ]
    },
    "345": {
        "acceleration": [
            -1.0796928405761719,
            0.5855989456176758,
            -0.027688294649124146
        ],
        "angular_velocity": [
            1.0098071098327637,
            0.13989245891571045,
            -4.779381275177002
        ],
        "forward_vector": [
            -0.9564337134361267,
            -0.2919144034385681,
            -0.004534825216978788
        ],
        "right_vector": [
            0.29191815853118896,
            -0.9564433097839355,
            -0.0001696054096100852
        ],
        "location": [
            2902.830810546875,
            4249.3046875,
            360.5265808105469
        ],
        "rotation": [
            0.009717774577438831,
            -0.25982722640037537,
            -163.0272216796875
        ],
        "velocity": [
            -9.466225624084473,
            -2.8209757804870605,
            -0.06814805418252945
        ],
        "speed": 9.877617724946033,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.816829681396484,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2878.598388671875,
                4243.953125,
                360.366943359375
            ],
            "velocity": [
                -9.016745567321777,
                -1.4680006504058838,
                -0.06363853812217712
            ],
            "speed_kmh": 32.888473089067325,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.022210121154785,
                "transform": {
                    "location": {
                        "x": 2883.446533203125,
                        "y": 4254.81591796875,
                        "z": 360.41119384765625
                    },
                    "rotation": {
                        "roll": 0.0020136430393904448,
                        "pitch": 0.37398698925971985,
                        "yaw": 9.210083961486816
                    }
                },
                "velocity": {
                    "x": 7.918641090393066,
                    "y": 1.2836660146713257,
                    "z": 0.05634540319442749
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.658561706542969,
                "transform": {
                    "location": {
                        "x": 2886.0673828125,
                        "y": 4251.94677734375,
                        "z": 360.4139404296875
                    },
                    "rotation": {
                        "roll": 5.811486335005611e-05,
                        "pitch": 0.41996097564697266,
                        "yaw": 9.17566967010498
                    }
                },
                "velocity": {
                    "x": 8.547205924987793,
                    "y": 1.3829201459884644,
                    "z": 0.059191178530454636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.922303199768066,
                "transform": {
                    "location": {
                        "x": 2941.29052734375,
                        "y": 4257.3896484375,
                        "z": 360.8133544921875
                    },
                    "rotation": {
                        "roll": -0.00021362598636187613,
                        "pitch": -0.6195390820503235,
                        "yaw": -170.8000030517578
                    }
                },
                "velocity": {
                    "x": -8.807466506958008,
                    "y": -1.4253736734390259,
                    "z": -0.06590380519628525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078485488891602,
                "transform": {
                    "location": {
                        "x": 2926.595458984375,
                        "y": 4261.7978515625,
                        "z": 360.7063293457031
                    },
                    "rotation": {
                        "roll": -0.0004882814246229827,
                        "pitch": 0.4175635874271393,
                        "yaw": 9.191548347473145
                    }
                },
                "velocity": {
                    "x": 7.974575519561768,
                    "y": 1.2902566194534302,
                    "z": 0.057624273002147675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.98703670501709,
                "transform": {
                    "location": {
                        "x": 2928.584228515625,
                        "y": 4258.82763671875,
                        "z": 360.7152404785156
                    },
                    "rotation": {
                        "roll": -0.0009155263542197645,
                        "pitch": 0.4171879291534424,
                        "yaw": 9.190205574035645
                    }
                },
                "velocity": {
                    "x": 7.8841753005981445,
                    "y": 1.2764183282852173,
                    "z": 0.057389333844184875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001081466674805,
                "transform": {
                    "location": {
                        "x": 2969.8037109375,
                        "y": 4265.49755859375,
                        "z": 361.0395202636719
                    },
                    "rotation": {
                        "roll": 0.000472201150842011,
                        "pitch": 0.49591952562332153,
                        "yaw": 9.19754695892334
                    }
                },
                "velocity": {
                    "x": 7.898160457611084,
                    "y": 1.277337670326233,
                    "z": 0.06910862028598785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082035064697266,
                "transform": {
                    "location": {
                        "x": 2968.828369140625,
                        "y": 4268.63232421875,
                        "z": 361.04693603515625
                    },
                    "rotation": {
                        "roll": -0.00015259106294251978,
                        "pitch": 0.49622005224227905,
                        "yaw": 9.191954612731934
                    }
                },
                "velocity": {
                    "x": 7.977945327758789,
                    "y": 1.2911159992218018,
                    "z": 0.06862720102071762
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002857868792489171,
                "transform": {
                    "location": {
                        "x": 2951.7978515625,
                        "y": 4255.79541015625,
                        "z": 360.8853454589844
                    },
                    "rotation": {
                        "roll": 0.0005502051790244877,
                        "pitch": -0.6446537375450134,
                        "yaw": -170.83644104003906
                    }
                },
                "velocity": {
                    "x": 0.0026920833624899387,
                    "y": 0.0006233784952200949,
                    "z": -0.0007290398934856057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.837621688842773,
                "transform": {
                    "location": {
                        "x": 2922.83544921875,
                        "y": 4254.40185546875,
                        "z": 360.6752624511719
                    },
                    "rotation": {
                        "roll": 4.7740264562889934e-05,
                        "pitch": -0.29864317178726196,
                        "yaw": -170.822021484375
                    }
                },
                "velocity": {
                    "x": -9.71122932434082,
                    "y": -1.570345401763916,
                    "z": -0.06962218880653381
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.531389236450195,
                "transform": {
                    "location": {
                        "x": 2880.568359375,
                        "y": 4247.56494140625,
                        "z": 360.3803405761719
                    },
                    "rotation": {
                        "roll": -0.0007934542372822762,
                        "pitch": -0.5389019250869751,
                        "yaw": -170.8124542236328
                    }
                },
                "velocity": {
                    "x": -9.4087553024292,
                    "y": -1.5226463079452515,
                    "z": -0.06532382220029831
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.135687828063965,
                "transform": {
                    "location": {
                        "x": 2878.598388671875,
                        "y": 4243.953125,
                        "z": 360.366943359375
                    },
                    "rotation": {
                        "roll": 0.0060302927158772945,
                        "pitch": -0.42084208130836487,
                        "yaw": -170.72511291503906
                    }
                },
                "velocity": {
                    "x": -9.016745567321777,
                    "y": -1.4680006504058838,
                    "z": -0.06363853812217712
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.76042652130127,
                "transform": {
                    "location": {
                        "x": 2861.7822265625,
                        "y": 4241.23779296875,
                        "z": 360.2443542480469
                    },
                    "rotation": {
                        "roll": -0.0029602027498185635,
                        "pitch": -0.35809314250946045,
                        "yaw": -170.7265167236328
                    }
                },
                "velocity": {
                    "x": -8.646443367004395,
                    "y": -1.4070899486541748,
                    "z": -0.06468326598405838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.836394786834717,
                "transform": {
                    "location": {
                        "x": 2858.021240234375,
                        "y": 4243.9140625,
                        "z": 360.2096862792969
                    },
                    "rotation": {
                        "roll": -0.0011291521368548274,
                        "pitch": -0.41753625869750977,
                        "yaw": -170.80621337890625
                    }
                },
                "velocity": {
                    "x": -7.735618591308594,
                    "y": -1.2513340711593628,
                    "z": -0.0587678886950016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4745325744152069,
        "expert_target_speed": 10.0,
        "target_point": [
            13.012870351102938,
            -0.45318634345608366
        ],
        "target_point_next": [
            54.62615245286719,
            -6.13951362062757
        ]
    },
    "350": {
        "acceleration": [
            -0.05474090576171875,
            0.9226512908935547,
            -0.015189498662948608
        ],
        "angular_velocity": [
            0.47217288613319397,
            -0.16097776591777802,
            -5.4858198165893555
        ],
        "forward_vector": [
            -0.9629487991333008,
            -0.2696246802806854,
            -0.005678264889866114
        ],
        "right_vector": [
            0.2696453630924225,
            -0.9629542827606201,
            -0.003242513630539179
        ],
        "location": [
            2900.449951171875,
            4248.62255859375,
            360.50982666015625
        ],
        "rotation": [
            0.18578565120697021,
            -0.3253423869609833,
            -164.35780334472656
        ],
        "velocity": [
            -9.572439193725586,
            -2.6136248111724854,
            -0.06878727674484253
        ],
        "speed": 9.922833605938887,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.505807876586914,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2876.463623046875,
                4243.60595703125,
                360.3538513183594
            ],
            "velocity": [
                -8.195477485656738,
                -1.3279426097869873,
                -0.05835868790745735
            ],
            "speed_kmh": 29.889256319605256,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2847.75048828125,
                        "y": 4245.646484375,
                        "z": 360.48828125
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.102248191833496,
                "transform": {
                    "location": {
                        "x": 2885.437744140625,
                        "y": 4255.138671875,
                        "z": 360.4246520996094
                    },
                    "rotation": {
                        "roll": 0.0008587711490690708,
                        "pitch": 0.4066421091556549,
                        "yaw": 9.202476501464844
                    }
                },
                "velocity": {
                    "x": 7.997913837432861,
                    "y": 1.2948505878448486,
                    "z": 0.05628148838877678
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.19408130645752,
                "transform": {
                    "location": {
                        "x": 2888.1376953125,
                        "y": 4252.28173828125,
                        "z": 360.4285583496094
                    },
                    "rotation": {
                        "roll": -0.0001525853731436655,
                        "pitch": 0.3801819682121277,
                        "yaw": 9.196656227111816
                    }
                },
                "velocity": {
                    "x": 8.088541984558105,
                    "y": 1.3096790313720703,
                    "z": 0.056523244827985764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.57075023651123,
                "transform": {
                    "location": {
                        "x": 2939.17333984375,
                        "y": 4257.046875,
                        "z": 360.797607421875
                    },
                    "rotation": {
                        "roll": 0.0003351107588969171,
                        "pitch": -0.535398006439209,
                        "yaw": -170.8206787109375
                    }
                },
                "velocity": {
                    "x": -8.460457801818848,
                    "y": -1.369014859199524,
                    "z": -0.06495704501867294
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045300483703613,
                "transform": {
                    "location": {
                        "x": 2928.584716796875,
                        "y": 4262.119140625,
                        "z": 360.7209777832031
                    },
                    "rotation": {
                        "roll": 0.0004840691399294883,
                        "pitch": 0.4181100130081177,
                        "yaw": 9.190784454345703
                    }
                },
                "velocity": {
                    "x": 7.941802978515625,
                    "y": 1.2849938869476318,
                    "z": 0.05841828137636185
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018657684326172,
                "transform": {
                    "location": {
                        "x": 2930.559326171875,
                        "y": 4259.14697265625,
                        "z": 360.7298278808594
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.4197697341442108,
                        "yaw": 9.193070411682129
                    }
                },
                "velocity": {
                    "x": 7.915436744689941,
                    "y": 1.281196117401123,
                    "z": 0.057131536304950714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2971.831298828125,
                        "y": 4265.798828125,
                        "z": 361.0592041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2970.861083984375,
                        "y": 4268.94384765625,
                        "z": 361.06390380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.797119140625,
                        "y": 4255.794921875,
                        "z": 360.8849182128906
                    },
                    "rotation": {
                        "roll": 4.5432039769366384e-05,
                        "pitch": -0.5300226211547852,
                        "yaw": -170.83644104003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.74614429473877,
                "transform": {
                    "location": {
                        "x": 2920.262451171875,
                        "y": 4253.9853515625,
                        "z": 360.65667724609375
                    },
                    "rotation": {
                        "roll": 0.00041731985402293503,
                        "pitch": -0.2714248597621918,
                        "yaw": -170.8045196533203
                    }
                },
                "velocity": {
                    "x": -10.608115196228027,
                    "y": -1.715159296989441,
                    "z": -0.07577548176050186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.708394050598145,
                "transform": {
                    "location": {
                        "x": 2878.22607421875,
                        "y": 4247.185546875,
                        "z": 360.3641052246094
                    },
                    "rotation": {
                        "roll": -0.00122070440556854,
                        "pitch": -0.41225653886795044,
                        "yaw": -170.78729248046875
                    }
                },
                "velocity": {
                    "x": -9.583231925964355,
                    "y": -1.5525065660476685,
                    "z": -0.06553055346012115
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.302570343017578,
                "transform": {
                    "location": {
                        "x": 2876.463623046875,
                        "y": 4243.60595703125,
                        "z": 360.3538513183594
                    },
                    "rotation": {
                        "roll": 0.004732244648039341,
                        "pitch": -0.6572827100753784,
                        "yaw": -170.81430053710938
                    }
                },
                "velocity": {
                    "x": -8.195477485656738,
                    "y": -1.3279426097869873,
                    "z": -0.05835868790745735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.344279289245605,
                "transform": {
                    "location": {
                        "x": 2859.677978515625,
                        "y": 4240.89501953125,
                        "z": 360.2288513183594
                    },
                    "rotation": {
                        "roll": -0.0020446793641895056,
                        "pitch": -0.3805849552154541,
                        "yaw": -170.75730895996094
                    }
                },
                "velocity": {
                    "x": -8.236124992370605,
                    "y": -1.3376084566116333,
                    "z": -0.06359025835990906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.084426879882812,
                "transform": {
                    "location": {
                        "x": 2856.0146484375,
                        "y": 4243.58935546875,
                        "z": 360.1943664550781
                    },
                    "rotation": {
                        "roll": -0.0003356956294737756,
                        "pitch": -0.4243118166923523,
                        "yaw": -170.81204223632812
                    }
                },
                "velocity": {
                    "x": -7.9804558753967285,
                    "y": -1.29097318649292,
                    "z": -0.06059204787015915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8006011247634888,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42856574058532715,
        "expert_target_speed": 10.0,
        "target_point": [
            10.543280658889827,
            -0.16581111040317875
        ],
        "target_point_next": [
            52.277383429700784,
            -4.884309928831177
        ]
    },
    "355": {
        "acceleration": [
            0.010700225830078125,
            1.0443592071533203,
            0.0038883090019226074
        ],
        "angular_velocity": [
            0.3411259949207306,
            -0.11762489378452301,
            -5.594830513000488
        ],
        "forward_vector": [
            -0.969194769859314,
            -0.24620382487773895,
            -0.0067207301035523415
        ],
        "right_vector": [
            0.2462375909090042,
            -0.9691978096961975,
            -0.004757435526698828
        ],
        "location": [
            2898.0546875,
            4247.99658203125,
            360.4931945800781
        ],
        "rotation": [
            0.27258819341659546,
            -0.38507238030433655,
            -165.74668884277344
        ],
        "velocity": [
            -9.576354026794434,
            -2.363339900970459,
            -0.0683475136756897
        ],
        "speed": 9.863667265982821,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.0449275970459,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2874.4765625,
                4243.2841796875,
                360.33892822265625
            ],
            "velocity": [
                -7.748459339141846,
                -1.253454327583313,
                -0.05647382512688637
            ],
            "speed_kmh": 28.257812210126385,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2847.231201171875,
                        "y": 4248.85498046875,
                        "z": 360.52752685546875
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.40538114309310913,
                "transform": {
                    "location": {
                        "x": 2847.751220703125,
                        "y": 4245.646484375,
                        "z": 360.1033630371094
                    },
                    "rotation": {
                        "roll": -0.0003662098024506122,
                        "pitch": 0.44362759590148926,
                        "yaw": 9.191657066345215
                    }
                },
                "velocity": {
                    "x": 0.0030643902719020844,
                    "y": 0.0004417945456225425,
                    "z": -0.4053693413734436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058799743652344,
                "transform": {
                    "location": {
                        "x": 2887.432373046875,
                        "y": 4255.4619140625,
                        "z": 360.43841552734375
                    },
                    "rotation": {
                        "roll": 0.0003653070889413357,
                        "pitch": 0.3958982229232788,
                        "yaw": 9.196036338806152
                    }
                },
                "velocity": {
                    "x": 7.955026626586914,
                    "y": 1.287886381149292,
                    "z": 0.05617727339267731
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.955407619476318,
                "transform": {
                    "location": {
                        "x": 2890.124267578125,
                        "y": 4252.603515625,
                        "z": 360.4422912597656
                    },
                    "rotation": {
                        "roll": -0.0004882825305685401,
                        "pitch": 0.3801478147506714,
                        "yaw": 9.182779312133789
                    }
                },
                "velocity": {
                    "x": 7.853021144866943,
                    "y": 1.2710732221603394,
                    "z": 0.05426323786377907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.241168975830078,
                "transform": {
                    "location": {
                        "x": 2936.95654296875,
                        "y": 4256.68798828125,
                        "z": 360.7811279296875
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.34216514229774475,
                        "yaw": -170.79241943359375
                    }
                },
                "velocity": {
                    "x": -9.122267723083496,
                    "y": -1.4760578870773315,
                    "z": -0.06841929256916046
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078227996826172,
                "transform": {
                    "location": {
                        "x": 2930.57421875,
                        "y": 4262.4404296875,
                        "z": 360.7356872558594
                    },
                    "rotation": {
                        "roll": 0.000281559448922053,
                        "pitch": 0.4206986427307129,
                        "yaw": 9.19061279296875
                    }
                },
                "velocity": {
                    "x": 7.974299907684326,
                    "y": 1.2902085781097412,
                    "z": 0.0605887770652771
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987206935882568,
                "transform": {
                    "location": {
                        "x": 2932.534423828125,
                        "y": 4259.46630859375,
                        "z": 360.74444580078125
                    },
                    "rotation": {
                        "roll": -0.0003662120725493878,
                        "pitch": 0.42162755131721497,
                        "yaw": 9.193618774414062
                    }
                },
                "velocity": {
                    "x": 7.884391784667969,
                    "y": 1.2761002779006958,
                    "z": 0.05833996459841728
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2973.893798828125,
                        "y": 4266.087890625,
                        "z": 361.0805358886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2972.923583984375,
                        "y": 4269.2333984375,
                        "z": 361.08026123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005397293716669083,
                "transform": {
                    "location": {
                        "x": 2951.796875,
                        "y": 4255.794921875,
                        "z": 360.88470458984375
                    },
                    "rotation": {
                        "roll": -0.0005493125063367188,
                        "pitch": -0.4799778461456299,
                        "yaw": -170.83645629882812
                    }
                },
                "velocity": {
                    "x": 0.00040525165968574584,
                    "y": 0.00014175019168760628,
                    "z": -0.0003270867746323347
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.017386436462402,
                "transform": {
                    "location": {
                        "x": 2917.46337890625,
                        "y": 4253.533203125,
                        "z": 360.636474609375
                    },
                    "rotation": {
                        "roll": 0.0002891095355153084,
                        "pitch": -0.21969301998615265,
                        "yaw": -170.80972290039062
                    }
                },
                "velocity": {
                    "x": -11.862910270690918,
                    "y": -1.9187837839126587,
                    "z": -0.08492473512887955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.42972183227539,
                "transform": {
                    "location": {
                        "x": 2875.759033203125,
                        "y": 4246.7861328125,
                        "z": 360.3469543457031
                    },
                    "rotation": {
                        "roll": 0.0016874587163329124,
                        "pitch": -0.26822152733802795,
                        "yaw": -170.8249053955078
                    }
                },
                "velocity": {
                    "x": -10.295720100402832,
                    "y": -1.6649553775787354,
                    "z": -0.0718279555439949
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.849392414093018,
                "transform": {
                    "location": {
                        "x": 2874.4765625,
                        "y": 4243.2841796875,
                        "z": 360.33892822265625
                    },
                    "rotation": {
                        "roll": 0.002280779415741563,
                        "pitch": -0.5280077457427979,
                        "yaw": -170.80462646484375
                    }
                },
                "velocity": {
                    "x": -7.748459339141846,
                    "y": -1.253454327583313,
                    "z": -0.05647382512688637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03311538696289,
                "transform": {
                    "location": {
                        "x": 2857.65673828125,
                        "y": 4240.56640625,
                        "z": 360.2134704589844
                    },
                    "rotation": {
                        "roll": -0.00018310878658667207,
                        "pitch": -0.3956591784954071,
                        "yaw": -170.76458740234375
                    }
                },
                "velocity": {
                    "x": -7.928750038146973,
                    "y": -1.2892529964447021,
                    "z": -0.06069756671786308
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.182441234588623,
                "transform": {
                    "location": {
                        "x": 2854.134033203125,
                        "y": 4243.28564453125,
                        "z": 360.1802673339844
                    },
                    "rotation": {
                        "roll": 0.00032868998823687434,
                        "pitch": -0.45791634917259216,
                        "yaw": -170.81442260742188
                    }
                },
                "velocity": {
                    "x": -7.090155601501465,
                    "y": -1.146342396736145,
                    "z": -0.055251285433769226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3368576765060425,
        "expert_target_speed": 10.0,
        "target_point": [
            8.068551333634701,
            0.07282047011750126
        ],
        "target_point_next": [
            49.90476250032759,
            -3.632715982273396
        ]
    },
    "360": {
        "acceleration": [
            1.3329887390136719,
            1.2081527709960938,
            0.03670349717140198
        ],
        "angular_velocity": [
            0.13886116445064545,
            -0.3465781509876251,
            -5.391693592071533
        ],
        "forward_vector": [
            -0.9748178124427795,
            -0.2228611558675766,
            -0.007940803654491901
        ],
        "right_vector": [
            0.22290654480457306,
            -0.9748250246047974,
            -0.005370069295167923
        ],
        "location": [
            2895.68212890625,
            4247.4375,
            360.4768371582031
        ],
        "rotation": [
            0.3076934814453125,
            -0.4549793601036072,
            -167.12245178222656
        ],
        "velocity": [
            -9.388031959533691,
            -2.078327178955078,
            -0.0643911138176918
        ],
        "speed": 9.615330880214646,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.531749725341797,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2872.577392578125,
                4242.9775390625,
                360.3246765136719
            ],
            "velocity": [
                -7.455513000488281,
                -1.204734206199646,
                -0.055134985595941544
            ],
            "speed_kmh": 27.188724064063287,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8662562966346741,
                "transform": {
                    "location": {
                        "x": 2847.231689453125,
                        "y": 4248.85498046875,
                        "z": 360.16314697265625
                    },
                    "rotation": {
                        "roll": -0.0006103496416471899,
                        "pitch": 0.4429992139339447,
                        "yaw": 9.19162368774414
                    }
                },
                "velocity": {
                    "x": 0.006518871057778597,
                    "y": 0.000955708441324532,
                    "z": -0.8662312626838684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12754788994789124,
                "transform": {
                    "location": {
                        "x": 2847.751220703125,
                        "y": 4245.646484375,
                        "z": 360.1199951171875
                    },
                    "rotation": {
                        "roll": -0.00012206659448565915,
                        "pitch": 0.4434090256690979,
                        "yaw": 9.191676139831543
                    }
                },
                "velocity": {
                    "x": -0.0009792683413252234,
                    "y": -5.027389124734327e-05,
                    "z": 0.1275441199541092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.073731422424316,
                "transform": {
                    "location": {
                        "x": 2889.42236328125,
                        "y": 4255.78369140625,
                        "z": 360.4521789550781
                    },
                    "rotation": {
                        "roll": -0.00027465791208669543,
                        "pitch": 0.3869233727455139,
                        "yaw": 9.192545890808105
                    }
                },
                "velocity": {
                    "x": 7.969844818115234,
                    "y": 1.2897883653640747,
                    "z": 0.05622480437159538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.947474002838135,
                "transform": {
                    "location": {
                        "x": 2892.0830078125,
                        "y": 4252.919921875,
                        "z": 360.4556884765625
                    },
                    "rotation": {
                        "roll": -9.155263978755102e-05,
                        "pitch": 0.3878249526023865,
                        "yaw": 9.206018447875977
                    }
                },
                "velocity": {
                    "x": 7.845187187194824,
                    "y": 1.2698650360107422,
                    "z": 0.0531843937933445
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.72555160522461,
                "transform": {
                    "location": {
                        "x": 2934.503662109375,
                        "y": 4256.291015625,
                        "z": 360.7629089355469
                    },
                    "rotation": {
                        "roll": -0.0009765619179233909,
                        "pitch": -0.16656097769737244,
                        "yaw": -170.78729248046875
                    }
                },
                "velocity": {
                    "x": -10.587029457092285,
                    "y": -1.7164067029953003,
                    "z": -0.07884743809700012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045938491821289,
                "transform": {
                    "location": {
                        "x": 2932.563720703125,
                        "y": 4262.76171875,
                        "z": 360.75048828125
                    },
                    "rotation": {
                        "roll": 0.00047034857561811805,
                        "pitch": 0.42119041085243225,
                        "yaw": 9.190555572509766
                    }
                },
                "velocity": {
                    "x": 7.9424285888671875,
                    "y": 1.2850395441055298,
                    "z": 0.06024177372455597
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019036293029785,
                "transform": {
                    "location": {
                        "x": 2934.50927734375,
                        "y": 4259.78564453125,
                        "z": 360.7591247558594
                    },
                    "rotation": {
                        "roll": 2.869891068257857e-05,
                        "pitch": 0.422085165977478,
                        "yaw": 9.196041107177734
                    }
                },
                "velocity": {
                    "x": 7.91572904586792,
                    "y": 1.2816129922866821,
                    "z": 0.06032484769821167
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00016192448674701154,
                "transform": {
                    "location": {
                        "x": 2951.796875,
                        "y": 4255.794921875,
                        "z": 360.8846435546875
                    },
                    "rotation": {
                        "roll": -0.0006713847396895289,
                        "pitch": -0.46273162961006165,
                        "yaw": -170.83648681640625
                    }
                },
                "velocity": {
                    "x": 0.00010570391896180809,
                    "y": 1.301095835515298e-05,
                    "z": -0.0001219710466102697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.039563179016113,
                "transform": {
                    "location": {
                        "x": 2914.362548828125,
                        "y": 4253.03125,
                        "z": 360.61419677734375
                    },
                    "rotation": {
                        "roll": 0.00040052493568509817,
                        "pitch": -0.23538196086883545,
                        "yaw": -170.80294799804688
                    }
                },
                "velocity": {
                    "x": -12.871705055236816,
                    "y": -2.083498239517212,
                    "z": -0.09199053794145584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.572805404663086,
                "transform": {
                    "location": {
                        "x": 2873.279052734375,
                        "y": 4246.384765625,
                        "z": 360.3294982910156
                    },
                    "rotation": {
                        "roll": 0.0006772477645426989,
                        "pitch": -0.49438273906707764,
                        "yaw": -170.79583740234375
                    }
                },
                "velocity": {
                    "x": -9.449503898620605,
                    "y": -1.529968500137329,
                    "z": -0.068333700299263
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.552423477172852,
                "transform": {
                    "location": {
                        "x": 2872.577392578125,
                        "y": 4242.9775390625,
                        "z": 360.3246765136719
                    },
                    "rotation": {
                        "roll": 0.0017372181173413992,
                        "pitch": -0.45843544602394104,
                        "yaw": -170.83802795410156
                    }
                },
                "velocity": {
                    "x": -7.455513000488281,
                    "y": -1.204734206199646,
                    "z": -0.055134985595941544
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.643162727355957,
                "transform": {
                    "location": {
                        "x": 2855.769287109375,
                        "y": 4240.26025390625,
                        "z": 360.19842529296875
                    },
                    "rotation": {
                        "roll": -0.0017089808825403452,
                        "pitch": -0.3179931044578552,
                        "yaw": -170.76202392578125
                    }
                },
                "velocity": {
                    "x": -6.55720329284668,
                    "y": -1.0640087127685547,
                    "z": -0.05083379149436951
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.88007926940918,
                "transform": {
                    "location": {
                        "x": 2852.41748046875,
                        "y": 4243.0078125,
                        "z": 360.1669921875
                    },
                    "rotation": {
                        "roll": -3.0513341698679142e-05,
                        "pitch": -0.4499182105064392,
                        "yaw": -170.81289672851562
                    }
                },
                "velocity": {
                    "x": -6.791601181030273,
                    "y": -1.0985435247421265,
                    "z": -0.05334778130054474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2992081940174103,
        "expert_target_speed": 10.0,
        "target_point": [
            47.540108703801444,
            -2.449743559326352
        ],
        "target_point_next": [
            47.540108703801444,
            -2.449743559326352
        ]
    },
    "365": {
        "acceleration": [
            0.4760169982910156,
            0.8756732940673828,
            0.016289502382278442
        ],
        "angular_velocity": [
            -0.09859921783208847,
            0.027805432677268982,
            -4.750671863555908
        ],
        "forward_vector": [
            -0.979601263999939,
            -0.2007606327533722,
            -0.008747346699237823
        ],
        "right_vector": [
            0.20081065595149994,
            -0.9796159267425537,
            -0.005266045220196247
        ],
        "location": [
            2893.36865234375,
            4246.94873046875,
            360.46099853515625
        ],
        "rotation": [
            0.3017351031303406,
            -0.5011924505233765,
            -168.41810607910156
        ],
        "velocity": [
            -9.15877628326416,
            -1.8155629634857178,
            -0.06371139734983444
        ],
        "speed": 9.33699372824375,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.606168746948242,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2871.15673828125,
                4242.74755859375,
                360.3199462890625
            ],
            "velocity": [
                -3.8355395793914795,
                -0.6211780309677124,
                -0.029423408210277557
            ],
            "speed_kmh": 13.988254682285893,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13023827970027924,
                "transform": {
                    "location": {
                        "x": 2847.231689453125,
                        "y": 4248.85498046875,
                        "z": 360.1525573730469
                    },
                    "rotation": {
                        "roll": 2.798526838887483e-05,
                        "pitch": 0.4434431791305542,
                        "yaw": 9.191648483276367
                    }
                },
                "velocity": {
                    "x": -0.0009951317915692925,
                    "y": -0.0001867900718934834,
                    "z": 0.13023434579372406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5824754238128662,
                "transform": {
                    "location": {
                        "x": 2847.974609375,
                        "y": 4245.68408203125,
                        "z": 360.1390686035156
                    },
                    "rotation": {
                        "roll": -0.002655028598383069,
                        "pitch": 0.6218613982200623,
                        "yaw": 9.253660202026367
                    }
                },
                "velocity": {
                    "x": 1.5597727298736572,
                    "y": 0.26387614011764526,
                    "z": 0.04131569713354111
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055329322814941,
                "transform": {
                    "location": {
                        "x": 2891.412353515625,
                        "y": 4256.10546875,
                        "z": 360.4658203125
                    },
                    "rotation": {
                        "roll": -0.0007324250764213502,
                        "pitch": 0.39537912607192993,
                        "yaw": 9.191929817199707
                    }
                },
                "velocity": {
                    "x": 7.951693534851074,
                    "y": 1.2867529392242432,
                    "z": 0.0563272088766098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01334285736084,
                "transform": {
                    "location": {
                        "x": 2894.053466796875,
                        "y": 4253.2392578125,
                        "z": 360.4692077636719
                    },
                    "rotation": {
                        "roll": 0.0006677199271507561,
                        "pitch": 0.3920869827270508,
                        "yaw": 9.1846923828125
                    }
                },
                "velocity": {
                    "x": 7.9101881980896,
                    "y": 1.2805366516113281,
                    "z": 0.05312144011259079
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.887309074401855,
                "transform": {
                    "location": {
                        "x": 2931.7021484375,
                        "y": 4255.8369140625,
                        "z": 360.7420959472656
                    },
                    "rotation": {
                        "roll": -6.103591294959188e-05,
                        "pitch": -0.1717860847711563,
                        "yaw": -170.80149841308594
                    }
                },
                "velocity": {
                    "x": -11.73428726196289,
                    "y": -1.8992490768432617,
                    "z": -0.08648692816495895
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078332901000977,
                "transform": {
                    "location": {
                        "x": 2934.553466796875,
                        "y": 4263.08349609375,
                        "z": 360.7652893066406
                    },
                    "rotation": {
                        "roll": 0.0013575834454968572,
                        "pitch": 0.4211699366569519,
                        "yaw": 9.196277618408203
                    }
                },
                "velocity": {
                    "x": 7.974056243896484,
                    "y": 1.2923853397369385,
                    "z": 0.06025410443544388
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986644268035889,
                "transform": {
                    "location": {
                        "x": 2936.484375,
                        "y": 4260.10498046875,
                        "z": 360.77392578125
                    },
                    "rotation": {
                        "roll": 0.0007291525835171342,
                        "pitch": 0.4233282804489136,
                        "yaw": 9.201338768005371
                    }
                },
                "velocity": {
                    "x": 7.883720397949219,
                    "y": 1.2766658067703247,
                    "z": 0.05971166491508484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002476293593645096,
                "transform": {
                    "location": {
                        "x": 2951.796875,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": -0.0007019074982963502,
                        "pitch": -0.45525941252708435,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 2.9088332667015493e-05,
                    "y": 8.949444600148126e-05,
                    "z": 0.0002290521952090785
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.96495246887207,
                "transform": {
                    "location": {
                        "x": 2911.02490234375,
                        "y": 4252.49072265625,
                        "z": 360.59033203125
                    },
                    "rotation": {
                        "roll": 0.0010761518497020006,
                        "pitch": -0.24956826865673065,
                        "yaw": -170.80018615722656
                    }
                },
                "velocity": {
                    "x": -13.785276412963867,
                    "y": -2.230830430984497,
                    "z": -0.09717223048210144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.723222255706787,
                "transform": {
                    "location": {
                        "x": 2871.146240234375,
                        "y": 4246.0390625,
                        "z": 360.3142395019531
                    },
                    "rotation": {
                        "roll": -0.00048827810678631067,
                        "pitch": -0.7302222847938538,
                        "yaw": -170.8177032470703
                    }
                },
                "velocity": {
                    "x": -7.623757362365723,
                    "y": -1.2342671155929565,
                    "z": -0.055400289595127106
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8856263160705566,
                "transform": {
                    "location": {
                        "x": 2871.15673828125,
                        "y": 4242.74755859375,
                        "z": 360.3199462890625
                    },
                    "rotation": {
                        "roll": 0.0006752923363819718,
                        "pitch": -1.1563646793365479,
                        "yaw": -170.87042236328125
                    }
                },
                "velocity": {
                    "x": -3.8355395793914795,
                    "y": -0.6211780309677124,
                    "z": -0.029423408210277557
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.931681156158447,
                "transform": {
                    "location": {
                        "x": 2854.2666015625,
                        "y": 4240.0166015625,
                        "z": 360.18707275390625
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": -0.3434765338897705,
                        "yaw": -170.7913818359375
                    }
                },
                "velocity": {
                    "x": -5.855313777923584,
                    "y": -0.9476780295372009,
                    "z": -0.04525352269411087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7504754066467285,
                "transform": {
                    "location": {
                        "x": 2850.72607421875,
                        "y": 4242.734375,
                        "z": 360.15386962890625
                    },
                    "rotation": {
                        "roll": 0.0007846514345146716,
                        "pitch": -0.443176805973053,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": -6.66373348236084,
                    "y": -1.0774309635162354,
                    "z": -0.05213244631886482
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2642937898635864,
        "expert_target_speed": 10.0,
        "target_point": [
            45.218845788029995,
            -1.3885050414877878
        ],
        "target_point_next": [
            45.218845788029995,
            -1.3885050414877878
        ]
    },
    "370": {
        "acceleration": [
            0.32032012939453125,
            0.6061768531799316,
            0.005942881107330322
        ],
        "angular_velocity": [
            -0.2605719268321991,
            0.11094168573617935,
            -3.813310146331787
        ],
        "forward_vector": [
            -0.9831458330154419,
            -0.1826375126838684,
            -0.008236552588641644
        ],
        "right_vector": [
            0.18267908692359924,
            -0.9831618070602417,
            -0.00460804533213377
        ],
        "location": [
            2891.095458984375,
            4246.51611328125,
            360.4452209472656
        ],
        "rotation": [
            0.26403144001960754,
            -0.4719250500202179,
            -169.47621154785156
        ],
        "velocity": [
            -9.066327095031738,
            -1.6329052448272705,
            -0.06361519545316696
        ],
        "speed": 9.212202045802679,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.35721778869629,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2870.10498046875,
                4242.57763671875,
                360.30755615234375
            ],
            "velocity": [
                -4.457574367523193,
                -0.7205621004104614,
                -0.029847444966435432
            ],
            "speed_kmh": 16.25593138791632,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1768232583999634,
                "transform": {
                    "location": {
                        "x": 2847.34814453125,
                        "y": 4248.87451171875,
                        "z": 360.1715087890625
                    },
                    "rotation": {
                        "roll": -0.0025024341885000467,
                        "pitch": 0.5384920835494995,
                        "yaw": 9.235249519348145
                    }
                },
                "velocity": {
                    "x": 1.1589584350585938,
                    "y": 0.19981084764003754,
                    "z": 0.04247118905186653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.746492385864258,
                "transform": {
                    "location": {
                        "x": 2848.503173828125,
                        "y": 4245.77490234375,
                        "z": 360.1463623046875
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.6286232471466064,
                        "yaw": 9.474761962890625
                    }
                },
                "velocity": {
                    "x": 2.7070579528808594,
                    "y": 0.4630316197872162,
                    "z": 0.02569148875772953
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0869722366333,
                "transform": {
                    "location": {
                        "x": 2893.405029296875,
                        "y": 4256.42822265625,
                        "z": 360.4794921875
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.3962124288082123,
                        "yaw": 9.191886901855469
                    }
                },
                "velocity": {
                    "x": 7.982929706573486,
                    "y": 1.291809320449829,
                    "z": 0.056451719254255295
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02086067199707,
                "transform": {
                    "location": {
                        "x": 2896.032958984375,
                        "y": 4253.55908203125,
                        "z": 360.48284912109375
                    },
                    "rotation": {
                        "roll": -0.0004272436781320721,
                        "pitch": 0.39287927746772766,
                        "yaw": 9.205344200134277
                    }
                },
                "velocity": {
                    "x": 7.917629718780518,
                    "y": 1.281610369682312,
                    "z": 0.05315115675330162
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.92166805267334,
                "transform": {
                    "location": {
                        "x": 2928.63525390625,
                        "y": 4255.34033203125,
                        "z": 360.7193908691406
                    },
                    "rotation": {
                        "roll": -0.00015258954954333603,
                        "pitch": -0.19295966625213623,
                        "yaw": -170.8051300048828
                    }
                },
                "velocity": {
                    "x": -12.755290031433105,
                    "y": -2.064791440963745,
                    "z": -0.09342686086893082
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044761657714844,
                "transform": {
                    "location": {
                        "x": 2936.542724609375,
                        "y": 4263.40576171875,
                        "z": 360.7801513671875
                    },
                    "rotation": {
                        "roll": 0.00018820883997250348,
                        "pitch": 0.42259061336517334,
                        "yaw": 9.203816413879395
                    }
                },
                "velocity": {
                    "x": 7.94097375869751,
                    "y": 1.2866404056549072,
                    "z": 0.060721464455127716
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018839836120605,
                "transform": {
                    "location": {
                        "x": 2938.459228515625,
                        "y": 4260.42431640625,
                        "z": 360.7886657714844
                    },
                    "rotation": {
                        "roll": 0.0006615725578740239,
                        "pitch": 0.4233282804489136,
                        "yaw": 9.202759742736816
                    }
                },
                "velocity": {
                    "x": 7.915419101715088,
                    "y": 1.2822949886322021,
                    "z": 0.06041903421282768
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.79638671875,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.867737770080566,
                "transform": {
                    "location": {
                        "x": 2907.462646484375,
                        "y": 4251.9140625,
                        "z": 360.5650939941406
                    },
                    "rotation": {
                        "roll": 0.0011832882883027196,
                        "pitch": -0.25195884704589844,
                        "yaw": -170.8041229248047
                    }
                },
                "velocity": {
                    "x": -14.676344871520996,
                    "y": -2.375662088394165,
                    "z": -0.10380930453538895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.273640155792236,
                "transform": {
                    "location": {
                        "x": 2869.42578125,
                        "y": 4245.7607421875,
                        "z": 360.3017883300781
                    },
                    "rotation": {
                        "roll": -0.0006103542982600629,
                        "pitch": -0.7055311799049377,
                        "yaw": -170.788818359375
                    }
                },
                "velocity": {
                    "x": -6.19267463684082,
                    "y": -1.0036391019821167,
                    "z": -0.04529302567243576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.515536308288574,
                "transform": {
                    "location": {
                        "x": 2870.10498046875,
                        "y": 4242.57763671875,
                        "z": 360.30755615234375
                    },
                    "rotation": {
                        "roll": 0.0013948039850220084,
                        "pitch": -0.5931950807571411,
                        "yaw": -170.85272216796875
                    }
                },
                "velocity": {
                    "x": -4.457574367523193,
                    "y": -0.7205621004104614,
                    "z": -0.029847444966435432
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.413511753082275,
                "transform": {
                    "location": {
                        "x": 2852.7587890625,
                        "y": 4239.7724609375,
                        "z": 360.1764221191406
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": -0.46007469296455383,
                        "yaw": -170.76119995117188
                    }
                },
                "velocity": {
                    "x": -6.330576419830322,
                    "y": -1.0269856452941895,
                    "z": -0.04727373644709587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.2740159034729,
                "transform": {
                    "location": {
                        "x": 2849.11962890625,
                        "y": 4242.47412109375,
                        "z": 360.1414794921875
                    },
                    "rotation": {
                        "roll": -0.0002441403194097802,
                        "pitch": -0.4565434753894806,
                        "yaw": -170.81414794921875
                    }
                },
                "velocity": {
                    "x": -6.193375587463379,
                    "y": -1.0014914274215698,
                    "z": -0.048808906227350235
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3090308606624603,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2604053020477295,
        "expert_target_speed": 9.192037713644137,
        "target_point": [
            42.922804387341415,
            -0.5634171148583009
        ],
        "target_point_next": [
            42.922804387341415,
            -0.5634171148583009
        ]
    },
    "375": {
        "acceleration": [
            0.28179168701171875,
            0.24777650833129883,
            -0.00964626669883728
        ],
        "angular_velocity": [
            -0.3897816240787506,
            -0.06200622767210007,
            -1.651167392730713
        ],
        "forward_vector": [
            -0.9852132201194763,
            -0.17116889357566833,
            -0.007490326184779406
        ],
        "right_vector": [
            0.17119549214839935,
            -0.9852322936058044,
            -0.003063680836930871
        ],
        "location": [
            2888.826904296875,
            4246.11572265625,
            360.4293518066406
        ],
        "rotation": [
            0.17554119229316711,
            -0.42916807532310486,
            -170.14393615722656
        ],
        "velocity": [
            -9.057888984680176,
            -1.5530332326889038,
            -0.06387446820735931
        ],
        "speed": 9.190063388281205,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.25160026550293,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2868.922119140625,
                4242.38623046875,
                360.29608154296875
            ],
            "velocity": [
                -4.9506449699401855,
                -0.8005574345588684,
                -0.034826140850782394
            ],
            "speed_kmh": 18.054274819865377,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0869035720825195,
                "transform": {
                    "location": {
                        "x": 2847.748046875,
                        "y": 4248.94287109375,
                        "z": 360.1783447265625
                    },
                    "rotation": {
                        "roll": -0.0012512225657701492,
                        "pitch": 0.5484709739685059,
                        "yaw": 9.328641891479492
                    }
                },
                "velocity": {
                    "x": 2.0563130378723145,
                    "y": 0.3553368151187897,
                    "z": 0.02189277671277523
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.265523910522461,
                "transform": {
                    "location": {
                        "x": 2849.37548828125,
                        "y": 4245.9248046875,
                        "z": 360.15362548828125
                    },
                    "rotation": {
                        "roll": -0.0001831070549087599,
                        "pitch": 0.6731560826301575,
                        "yaw": 9.620646476745605
                    }
                },
                "velocity": {
                    "x": 4.203733444213867,
                    "y": 0.7226598262786865,
                    "z": 0.03287794068455696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.050949096679688,
                "transform": {
                    "location": {
                        "x": 2895.395751953125,
                        "y": 4256.75,
                        "z": 360.4932861328125
                    },
                    "rotation": {
                        "roll": 0.001309049199335277,
                        "pitch": 0.39356914162635803,
                        "yaw": 9.189642906188965
                    }
                },
                "velocity": {
                    "x": 7.947423934936523,
                    "y": 1.2857247591018677,
                    "z": 0.056068286299705505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00269889831543,
                "transform": {
                    "location": {
                        "x": 2898.010009765625,
                        "y": 4253.8798828125,
                        "z": 360.49652099609375
                    },
                    "rotation": {
                        "roll": 4.1975959902629256e-05,
                        "pitch": 0.39188891649246216,
                        "yaw": 9.181347846984863
                    }
                },
                "velocity": {
                    "x": 7.899768352508545,
                    "y": 1.2782601118087769,
                    "z": 0.05378101393580437
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.852522850036621,
                "transform": {
                    "location": {
                        "x": 2925.318115234375,
                        "y": 4254.80419921875,
                        "z": 360.6950378417969
                    },
                    "rotation": {
                        "roll": 0.0013477406464517117,
                        "pitch": -0.2082797735929489,
                        "yaw": -170.81089782714844
                    }
                },
                "velocity": {
                    "x": -13.674342155456543,
                    "y": -2.2124059200286865,
                    "z": -0.10004302114248276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078566551208496,
                "transform": {
                    "location": {
                        "x": 2938.5322265625,
                        "y": 4263.72802734375,
                        "z": 360.79498291015625
                    },
                    "rotation": {
                        "roll": 0.0006433759117498994,
                        "pitch": 0.4226315915584564,
                        "yaw": 9.206884384155273
                    }
                },
                "velocity": {
                    "x": 7.974273681640625,
                    "y": 1.2925161123275757,
                    "z": 0.060046881437301636
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.98699951171875,
                "transform": {
                    "location": {
                        "x": 2940.43408203125,
                        "y": 4260.74365234375,
                        "z": 360.8033752441406
                    },
                    "rotation": {
                        "roll": -0.0004577617801260203,
                        "pitch": 0.4218529462814331,
                        "yaw": 9.200794219970703
                    }
                },
                "velocity": {
                    "x": 7.884024620056152,
                    "y": 1.2769839763641357,
                    "z": 0.06025285646319389
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.79638671875,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.750687599182129,
                "transform": {
                    "location": {
                        "x": 2903.67919921875,
                        "y": 4251.30224609375,
                        "z": 360.5384826660156
                    },
                    "rotation": {
                        "roll": 0.0008622630848549306,
                        "pitch": -0.2532019317150116,
                        "yaw": -170.812255859375
                    }
                },
                "velocity": {
                    "x": -15.548243522644043,
                    "y": -2.514875888824463,
                    "z": -0.10803888738155365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.211109161376953,
                "transform": {
                    "location": {
                        "x": 2868.0615234375,
                        "y": 4245.5400390625,
                        "z": 360.29193115234375
                    },
                    "rotation": {
                        "roll": 0.0012488204520195723,
                        "pitch": -0.6476384997367859,
                        "yaw": -170.87088012695312
                    }
                },
                "velocity": {
                    "x": -5.144244194030762,
                    "y": -0.8313149213790894,
                    "z": -0.036383647471666336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.015076637268066,
                "transform": {
                    "location": {
                        "x": 2868.922119140625,
                        "y": 4242.38623046875,
                        "z": 360.29608154296875
                    },
                    "rotation": {
                        "roll": 0.001762125175446272,
                        "pitch": -0.19202393293380737,
                        "yaw": -170.8346405029297
                    }
                },
                "velocity": {
                    "x": -4.9506449699401855,
                    "y": -0.8005574345588684,
                    "z": -0.034826140850782394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.608947277069092,
                "transform": {
                    "location": {
                        "x": 2851.06982421875,
                        "y": 4239.49853515625,
                        "z": 360.16412353515625
                    },
                    "rotation": {
                        "roll": -0.001159669947810471,
                        "pitch": -0.5598773956298828,
                        "yaw": -170.74310302734375
                    }
                },
                "velocity": {
                    "x": -7.510973930358887,
                    "y": -1.215751051902771,
                    "z": -0.057455021888017654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.95582914352417,
                "transform": {
                    "location": {
                        "x": 2847.62060546875,
                        "y": 4242.23193359375,
                        "z": 360.1296691894531
                    },
                    "rotation": {
                        "roll": 0.0005431603058241308,
                        "pitch": -0.45181015133857727,
                        "yaw": -170.81285095214844
                    }
                },
                "velocity": {
                    "x": -5.879265785217285,
                    "y": -0.9508348107337952,
                    "z": -0.04527795687317848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.308500736951828,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26034483313560486,
        "expert_target_speed": 9.15189433136596,
        "target_point": [
            40.62284643515558,
            -0.0693168176728145
        ],
        "target_point_next": [
            40.62284643515558,
            -0.0693168176728145
        ]
    },
    "380": {
        "acceleration": [
            3.2320594787597656,
            0.5218148231506348,
            0.029303058981895447
        ],
        "angular_velocity": [
            -0.23262110352516174,
            -0.7760717272758484,
            0.1881020963191986
        ],
        "forward_vector": [
            -0.98555988073349,
            -0.16905252635478973,
            -0.009642570279538631
        ],
        "right_vector": [
            0.16907140612602234,
            -0.9856031537055969,
            -0.0011706023942679167
        ],
        "location": [
            2886.62890625,
            4245.7373046875,
            360.4146728515625
        ],
        "rotation": [
            0.06707371026277542,
            -0.5524871349334717,
            -170.26681518554688
        ],
        "velocity": [
            -8.477766036987305,
            -1.45708429813385,
            -0.058733515441417694
        ],
        "speed": 8.602070194422017,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.289249420166016,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2867.670166015625,
                4242.18408203125,
                360.2884826660156
            ],
            "velocity": [
                -5.070599555969238,
                -0.8196223378181458,
                -0.03686121478676796
            ],
            "speed_kmh": 18.491570706705993,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.280142307281494,
                "transform": {
                    "location": {
                        "x": 2848.403076171875,
                        "y": 4249.0546875,
                        "z": 360.1838073730469
                    },
                    "rotation": {
                        "roll": -0.0007324235048145056,
                        "pitch": 0.5667554140090942,
                        "yaw": 9.480053901672363
                    }
                },
                "velocity": {
                    "x": 3.231933832168579,
                    "y": 0.5596806406974792,
                    "z": 0.026372717693448067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3734211921691895,
                "transform": {
                    "location": {
                        "x": 2850.595947265625,
                        "y": 4246.134765625,
                        "z": 360.1634216308594
                    },
                    "rotation": {
                        "roll": 0.0018829542677849531,
                        "pitch": 0.6379874348640442,
                        "yaw": 9.727997779846191
                    }
                },
                "velocity": {
                    "x": 5.295012474060059,
                    "y": 0.9136666655540466,
                    "z": 0.04138007014989853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082951545715332,
                "transform": {
                    "location": {
                        "x": 2897.38671875,
                        "y": 4257.072265625,
                        "z": 360.5070495605469
                    },
                    "rotation": {
                        "roll": 0.00018299208022654057,
                        "pitch": 0.39659491181373596,
                        "yaw": 9.1890869140625
                    }
                },
                "velocity": {
                    "x": 7.979023456573486,
                    "y": 1.2907577753067017,
                    "z": 0.0568404458463192
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.998627185821533,
                "transform": {
                    "location": {
                        "x": 2899.984375,
                        "y": 4254.19970703125,
                        "z": 360.5101623535156
                    },
                    "rotation": {
                        "roll": 0.0003856646944768727,
                        "pitch": 0.3945731818675995,
                        "yaw": 9.201241493225098
                    }
                },
                "velocity": {
                    "x": 7.895745754241943,
                    "y": 1.2775260210037231,
                    "z": 0.05624524876475334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.587617874145508,
                "transform": {
                    "location": {
                        "x": 2921.83740234375,
                        "y": 4254.2412109375,
                        "z": 360.6695861816406
                    },
                    "rotation": {
                        "roll": 0.0008807796984910965,
                        "pitch": -0.2317483127117157,
                        "yaw": -170.81143188476562
                    }
                },
                "velocity": {
                    "x": -14.400055885314941,
                    "y": -2.329408645629883,
                    "z": -0.10417979210615158
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045170783996582,
                "transform": {
                    "location": {
                        "x": 2940.521484375,
                        "y": 4264.05029296875,
                        "z": 360.8097839355469
                    },
                    "rotation": {
                        "roll": -0.0001831060799304396,
                        "pitch": 0.42282283306121826,
                        "yaw": 9.20462417602539
                    }
                },
                "velocity": {
                    "x": 7.941357135772705,
                    "y": 1.2868415117263794,
                    "z": 0.06047428026795387
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01850414276123,
                "transform": {
                    "location": {
                        "x": 2942.408935546875,
                        "y": 4261.06298828125,
                        "z": 360.8182373046875
                    },
                    "rotation": {
                        "roll": 0.0002012059703702107,
                        "pitch": 0.42566418647766113,
                        "yaw": 9.201004981994629
                    }
                },
                "velocity": {
                    "x": 7.914980888366699,
                    "y": 1.282891869544983,
                    "z": 0.0605955496430397
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.79638671875,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.96697998046875,
                "transform": {
                    "location": {
                        "x": 2899.729248046875,
                        "y": 4250.66357421875,
                        "z": 360.51080322265625
                    },
                    "rotation": {
                        "roll": 0.0009418596746399999,
                        "pitch": -0.33043769001960754,
                        "yaw": -170.80926513671875
                    }
                },
                "velocity": {
                    "x": -15.761666297912598,
                    "y": -2.5499589443206787,
                    "z": -0.10970787703990936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.371849060058594,
                "transform": {
                    "location": {
                        "x": 2866.756103515625,
                        "y": 4245.32861328125,
                        "z": 360.2824401855469
                    },
                    "rotation": {
                        "roll": 0.0004545247065834701,
                        "pitch": -0.4438188374042511,
                        "yaw": -170.8442840576172
                    }
                },
                "velocity": {
                    "x": -5.303061008453369,
                    "y": -0.8561028242111206,
                    "z": -0.03732261434197426
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.136547565460205,
                "transform": {
                    "location": {
                        "x": 2867.670166015625,
                        "y": 4242.18408203125,
                        "z": 360.2884826660156
                    },
                    "rotation": {
                        "roll": 0.0005305189988575876,
                        "pitch": -0.32934486865997314,
                        "yaw": -170.82705688476562
                    }
                },
                "velocity": {
                    "x": -5.070599555969238,
                    "y": -0.8196223378181458,
                    "z": -0.03686121478676796
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.111273288726807,
                "transform": {
                    "location": {
                        "x": 2849.22705078125,
                        "y": 4239.2001953125,
                        "z": 360.1487731933594
                    },
                    "rotation": {
                        "roll": -0.0018615678418427706,
                        "pitch": -0.42538416385650635,
                        "yaw": -170.76760864257812
                    }
                },
                "velocity": {
                    "x": -7.01952600479126,
                    "y": -1.1372891664505005,
                    "z": -0.05508330091834068
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.829502582550049,
                "transform": {
                    "location": {
                        "x": 2846.161865234375,
                        "y": 4241.99609375,
                        "z": 360.11834716796875
                    },
                    "rotation": {
                        "roll": -0.0019226063741371036,
                        "pitch": -0.44680362939834595,
                        "yaw": -170.8123321533203
                    }
                },
                "velocity": {
                    "x": -5.754557132720947,
                    "y": -0.9306536912918091,
                    "z": -0.04534313082695007
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26642054319381714,
        "expert_target_speed": 8.731702246803819,
        "target_point": [
            38.392566797974794,
            0.01641550775858036
        ],
        "target_point_next": [
            38.392566797974794,
            0.01641550775858036
        ]
    },
    "385": {
        "acceleration": [
            2.1992874145507812,
            0.37128448486328125,
            0.03250189125537872
        ],
        "angular_velocity": [
            -0.08304837346076965,
            -0.09384692460298538,
            0.08432647585868835
        ],
        "forward_vector": [
            -0.9853914380073547,
            -0.16991665959358215,
            -0.011491402052342892
        ],
        "right_vector": [
            0.16993214190006256,
            -0.9854557514190674,
            -0.0003771370102185756
        ],
        "location": [
            2884.601806640625,
            4245.38818359375,
            360.4010314941406
        ],
        "rotation": [
            0.02160978689789772,
            -0.6584233641624451,
            -170.21636962890625
        ],
        "velocity": [
            -7.793620586395264,
            -1.3434878587722778,
            -0.05344977602362633
        ],
        "speed": 7.908570128117508,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.607820510864258,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2866.31201171875,
                4241.96484375,
                360.2779846191406
            ],
            "velocity": [
                -5.911653995513916,
                -0.9550893306732178,
                -0.04396339878439903
            ],
            "speed_kmh": 21.55849453440237,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.617868900299072,
                "transform": {
                    "location": {
                        "x": 2849.38525390625,
                        "y": 4249.2236328125,
                        "z": 360.19140625
                    },
                    "rotation": {
                        "roll": 0.000761138740926981,
                        "pitch": 0.5846027135848999,
                        "yaw": 9.627979278564453
                    }
                },
                "velocity": {
                    "x": 4.549861431121826,
                    "y": 0.78884357213974,
                    "z": 0.03464091196656227
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.522426605224609,
                "transform": {
                    "location": {
                        "x": 2851.941162109375,
                        "y": 4246.3681640625,
                        "z": 360.173583984375
                    },
                    "rotation": {
                        "roll": 0.0027909947093576193,
                        "pitch": 0.49820762872695923,
                        "yaw": 9.811369895935059
                    }
                },
                "velocity": {
                    "x": 5.4412431716918945,
                    "y": 0.9425165057182312,
                    "z": 0.04162656515836716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054788589477539,
                "transform": {
                    "location": {
                        "x": 2899.378173828125,
                        "y": 4257.39501953125,
                        "z": 360.5209045410156
                    },
                    "rotation": {
                        "roll": 0.000255381251918152,
                        "pitch": 0.3999553620815277,
                        "yaw": 9.191630363464355
                    }
                },
                "velocity": {
                    "x": 7.951169967651367,
                    "y": 1.286603331565857,
                    "z": 0.05631091818213463
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003663063049316,
                "transform": {
                    "location": {
                        "x": 2901.958740234375,
                        "y": 4254.52001953125,
                        "z": 360.5240173339844
                    },
                    "rotation": {
                        "roll": -0.00021362192637752742,
                        "pitch": 0.3961714506149292,
                        "yaw": 9.17832088470459
                    }
                },
                "velocity": {
                    "x": 7.900737285614014,
                    "y": 1.2782148122787476,
                    "z": 0.05599002540111542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.135591506958008,
                "transform": {
                    "location": {
                        "x": 2918.137939453125,
                        "y": 4253.642578125,
                        "z": 360.6427917480469
                    },
                    "rotation": {
                        "roll": 0.0013665384612977505,
                        "pitch": -0.272579163312912,
                        "yaw": -170.80859375
                    }
                },
                "velocity": {
                    "x": -14.941073417663574,
                    "y": -2.4163644313812256,
                    "z": -0.10787688940763474
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078163146972656,
                "transform": {
                    "location": {
                        "x": 2942.51123046875,
                        "y": 4264.37255859375,
                        "z": 360.8247985839844
                    },
                    "rotation": {
                        "roll": -0.0011596669210121036,
                        "pitch": 0.4273102581501007,
                        "yaw": 9.203543663024902
                    }
                },
                "velocity": {
                    "x": 7.974090576171875,
                    "y": 1.2911089658737183,
                    "z": 0.06035645306110382
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986867427825928,
                "transform": {
                    "location": {
                        "x": 2944.3837890625,
                        "y": 4261.3828125,
                        "z": 360.83306884765625
                    },
                    "rotation": {
                        "roll": -0.0005493187345564365,
                        "pitch": 0.43043848872184753,
                        "yaw": 9.205158233642578
                    }
                },
                "velocity": {
                    "x": 7.883785724639893,
                    "y": 1.277642011642456,
                    "z": 0.06006425619125366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.79638671875,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.480367660522461,
                "transform": {
                    "location": {
                        "x": 2895.971435546875,
                        "y": 4250.0556640625,
                        "z": 360.48443603515625
                    },
                    "rotation": {
                        "roll": 0.0009362061973661184,
                        "pitch": -0.5521183013916016,
                        "yaw": -170.82070922851562
                    }
                },
                "velocity": {
                    "x": -14.294230461120605,
                    "y": -2.312208652496338,
                    "z": -0.09857073426246643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.691176414489746,
                "transform": {
                    "location": {
                        "x": 2865.14990234375,
                        "y": 4245.06884765625,
                        "z": 360.2709045410156
                    },
                    "rotation": {
                        "roll": -0.0006103517953306437,
                        "pitch": -0.0626874715089798,
                        "yaw": -170.82054138183594
                    }
                },
                "velocity": {
                    "x": -7.592471122741699,
                    "y": -1.2269785404205322,
                    "z": -0.055696889758110046
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.988471031188965,
                "transform": {
                    "location": {
                        "x": 2866.31201171875,
                        "y": 4241.96484375,
                        "z": 360.2779846191406
                    },
                    "rotation": {
                        "roll": 0.001146175665780902,
                        "pitch": -0.28902626037597656,
                        "yaw": -170.8464813232422
                    }
                },
                "velocity": {
                    "x": -5.911653995513916,
                    "y": -0.9550893306732178,
                    "z": -0.04396339878439903
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.010261058807373,
                "transform": {
                    "location": {
                        "x": 2847.620849609375,
                        "y": 4238.93994140625,
                        "z": 360.1356201171875
                    },
                    "rotation": {
                        "roll": 4.085515001861495e-07,
                        "pitch": -0.34674137830734253,
                        "yaw": -170.78677368164062
                    }
                },
                "velocity": {
                    "x": -5.932613372802734,
                    "y": -0.9618659019470215,
                    "z": -0.046398699283599854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.393285274505615,
                "transform": {
                    "location": {
                        "x": 2844.778076171875,
                        "y": 4241.7724609375,
                        "z": 360.10760498046875
                    },
                    "rotation": {
                        "roll": -0.0008850107551552355,
                        "pitch": -0.4530600905418396,
                        "yaw": -170.81063842773438
                    }
                },
                "velocity": {
                    "x": -5.323904514312744,
                    "y": -0.8612495064735413,
                    "z": -0.042633865028619766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26709040999412537,
        "expert_target_speed": 8.253122550145465,
        "target_point": [
            36.3356224779699,
            -0.01696240535478566
        ],
        "target_point_next": [
            36.3356224779699,
            -0.01696240535478566
        ]
    },
    "390": {
        "acceleration": [
            1.985626220703125,
            0.3339958190917969,
            0.005410537123680115
        ],
        "angular_velocity": [
            -0.08226235210895538,
            0.12630777060985565,
            0.04653928056359291
        ],
        "forward_vector": [
            -0.985350489616394,
            -0.170170396566391,
            -0.011238695122301579
        ],
        "right_vector": [
            0.170182004570961,
            -0.9854126572608948,
            -7.609026943100616e-05
        ],
        "location": [
            2882.7265625,
            4245.064453125,
            360.3881530761719
        ],
        "rotation": [
            0.004359927028417587,
            -0.6439433693885803,
            -170.20164489746094
        ],
        "velocity": [
            -7.27474308013916,
            -1.256556749343872,
            -0.05158630385994911
        ],
        "speed": 7.382467185592784,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.35126304626465,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2864.686279296875,
                4241.70263671875,
                360.2647705078125
            ],
            "velocity": [
                -7.116755962371826,
                -1.1498820781707764,
                -0.052216093987226486
            ],
            "speed_kmh": 25.953271331721062,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.246713638305664,
                "transform": {
                    "location": {
                        "x": 2850.647705078125,
                        "y": 4249.44189453125,
                        "z": 360.201904296875
                    },
                    "rotation": {
                        "roll": 0.0019788711797446012,
                        "pitch": 0.5278711318969727,
                        "yaw": 9.680245399475098
                    }
                },
                "velocity": {
                    "x": 5.169369220733643,
                    "y": 0.8966893553733826,
                    "z": 0.039635200053453445
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.732734680175781,
                "transform": {
                    "location": {
                        "x": 2853.655517578125,
                        "y": 4246.65869140625,
                        "z": 360.1869812011719
                    },
                    "rotation": {
                        "roll": 0.011293232440948486,
                        "pitch": 0.686010479927063,
                        "yaw": 9.633964538574219
                    }
                },
                "velocity": {
                    "x": 7.624930381774902,
                    "y": 1.2853959798812866,
                    "z": 0.05813250318169594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08273696899414,
                "transform": {
                    "location": {
                        "x": 2901.369384765625,
                        "y": 4257.71728515625,
                        "z": 360.5347900390625
                    },
                    "rotation": {
                        "roll": -0.00012206925021018833,
                        "pitch": 0.3996138572692871,
                        "yaw": 9.191944122314453
                    }
                },
                "velocity": {
                    "x": 7.978758811950684,
                    "y": 1.2910577058792114,
                    "z": 0.05675145983695984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.005233764648438,
                "transform": {
                    "location": {
                        "x": 2903.934326171875,
                        "y": 4254.84033203125,
                        "z": 360.537841796875
                    },
                    "rotation": {
                        "roll": 0.0001828353269957006,
                        "pitch": 0.3967110216617584,
                        "yaw": 9.19720458984375
                    }
                },
                "velocity": {
                    "x": 7.902379989624023,
                    "y": 1.2778725624084473,
                    "z": 0.05650869384407997
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.906545639038086,
                "transform": {
                    "location": {
                        "x": 2914.548095703125,
                        "y": 4253.06201171875,
                        "z": 360.616943359375
                    },
                    "rotation": {
                        "roll": 0.0014861447270959616,
                        "pitch": -0.5627734065055847,
                        "yaw": -170.81155395507812
                    }
                },
                "velocity": {
                    "x": -13.727745056152344,
                    "y": -2.220696210861206,
                    "z": -0.09766437113285065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045552253723145,
                "transform": {
                    "location": {
                        "x": 2944.500244140625,
                        "y": 4264.69482421875,
                        "z": 360.83984375
                    },
                    "rotation": {
                        "roll": 0.00040126158273778856,
                        "pitch": 0.43047264218330383,
                        "yaw": 9.200831413269043
                    }
                },
                "velocity": {
                    "x": 7.941810607910156,
                    "y": 1.2864395380020142,
                    "z": 0.06022987142205238
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018552780151367,
                "transform": {
                    "location": {
                        "x": 2946.35888671875,
                        "y": 4261.703125,
                        "z": 360.84808349609375
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.43043848872184753,
                        "yaw": 9.206743240356445
                    }
                },
                "velocity": {
                    "x": 7.915037155151367,
                    "y": 1.282810926437378,
                    "z": 0.06138132885098457
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.79638671875,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.39076042175293,
                "transform": {
                    "location": {
                        "x": 2892.577392578125,
                        "y": 4249.50732421875,
                        "z": 360.46112060546875
                    },
                    "rotation": {
                        "roll": -0.0004577612562570721,
                        "pitch": -0.5601164698600769,
                        "yaw": -170.8250732421875
                    }
                },
                "velocity": {
                    "x": -13.219038963317871,
                    "y": -2.1356747150421143,
                    "z": -0.0913282185792923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.98489761352539,
                "transform": {
                    "location": {
                        "x": 2863.062744140625,
                        "y": 4244.7314453125,
                        "z": 360.25543212890625
                    },
                    "rotation": {
                        "roll": 0.0007971905870363116,
                        "pitch": -0.12786796689033508,
                        "yaw": -170.8081512451172
                    }
                },
                "velocity": {
                    "x": -8.86951732635498,
                    "y": -1.4337948560714722,
                    "z": -0.06536518782377243
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.20924186706543,
                "transform": {
                    "location": {
                        "x": 2864.686279296875,
                        "y": 4241.70263671875,
                        "z": 360.2647705078125
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.1401418149471283,
                        "yaw": -170.81661987304688
                    }
                },
                "velocity": {
                    "x": -7.116755962371826,
                    "y": -1.1498820781707764,
                    "z": -0.052216093987226486
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.520651817321777,
                "transform": {
                    "location": {
                        "x": 2846.26806640625,
                        "y": 4238.720703125,
                        "z": 360.1243591308594
                    },
                    "rotation": {
                        "roll": -0.00033569236984476447,
                        "pitch": -0.2888145446777344,
                        "yaw": -170.763427734375
                    }
                },
                "velocity": {
                    "x": -4.462479591369629,
                    "y": -0.7219532132148743,
                    "z": -0.03674376383423805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2055463790893555,
                "transform": {
                    "location": {
                        "x": 2843.476806640625,
                        "y": 4241.56201171875,
                        "z": 360.0974426269531
                    },
                    "rotation": {
                        "roll": -0.0017700206954032183,
                        "pitch": -0.4497610926628113,
                        "yaw": -170.8097381591797
                    }
                },
                "velocity": {
                    "x": -5.138575553894043,
                    "y": -0.8313049077987671,
                    "z": -0.04103880003094673
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27086901664733887,
        "expert_target_speed": 7.897304572965371,
        "target_point": [
            34.432634512727454,
            -0.02619482192206224
        ],
        "target_point_next": [
            34.432634512727454,
            -0.02619482192206224
        ]
    },
    "395": {
        "acceleration": [
            0.3458976745605469,
            0.05262613296508789,
            -0.0020535290241241455
        ],
        "angular_velocity": [
            -0.05510306358337402,
            0.4303846061229706,
            0.04267427325248718
        ],
        "forward_vector": [
            -0.9853276610374451,
            -0.1703813076019287,
            -0.009979797527194023
        ],
        "right_vector": [
            0.17038919031620026,
            -0.9853768348693848,
            6.071699317544699e-05
        ],
        "location": [
            2880.945556640625,
            4244.75634765625,
            360.37554931640625
        ],
        "rotation": [
            -0.003479000646620989,
            -0.5718097686767578,
            -170.18951416015625
        ],
        "velocity": [
            -7.016885280609131,
            -1.213842511177063,
            -0.04842853918671608
        ],
        "speed": 7.121101928997346,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.4981689453125,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2862.756591796875,
                4241.390625,
                360.2503356933594
            ],
            "velocity": [
                -8.246809959411621,
                -1.3392339944839478,
                -0.06120876967906952
            ],
            "speed_kmh": 30.078246400165124,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.598062038421631,
                "transform": {
                    "location": {
                        "x": 2851.998046875,
                        "y": 4249.67431640625,
                        "z": 360.212646484375
                    },
                    "rotation": {
                        "roll": 0.011859257705509663,
                        "pitch": 0.47971829771995544,
                        "yaw": 9.671540260314941
                    }
                },
                "velocity": {
                    "x": 5.520068168640137,
                    "y": 0.9302634000778198,
                    "z": 0.041865747421979904
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.32913589477539,
                "transform": {
                    "location": {
                        "x": 2855.662841796875,
                        "y": 4246.99560546875,
                        "z": 360.20220947265625
                    },
                    "rotation": {
                        "roll": 0.00820270273834467,
                        "pitch": 0.5726839900016785,
                        "yaw": 9.50802230834961
                    }
                },
                "velocity": {
                    "x": 8.214323997497559,
                    "y": 1.37674081325531,
                    "z": 0.06301110982894897
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05267333984375,
                "transform": {
                    "location": {
                        "x": 2903.3603515625,
                        "y": 4258.0390625,
                        "z": 360.5487365722656
                    },
                    "rotation": {
                        "roll": 0.0001932043523993343,
                        "pitch": 0.4009457528591156,
                        "yaw": 9.191886901855469
                    }
                },
                "velocity": {
                    "x": 7.949069023132324,
                    "y": 1.2863366603851318,
                    "z": 0.05638958886265755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003503799438477,
                "transform": {
                    "location": {
                        "x": 2905.90966796875,
                        "y": 4255.16064453125,
                        "z": 360.5517578125
                    },
                    "rotation": {
                        "roll": -9.155277803074569e-05,
                        "pitch": 0.40024223923683167,
                        "yaw": 9.173652648925781
                    }
                },
                "velocity": {
                    "x": 7.900674819946289,
                    "y": 1.2775652408599854,
                    "z": 0.056899163872003555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.037718772888184,
                "transform": {
                    "location": {
                        "x": 2911.217529296875,
                        "y": 4252.52294921875,
                        "z": 360.59320068359375
                    },
                    "rotation": {
                        "roll": -0.00051879818784073,
                        "pitch": -0.5884412527084351,
                        "yaw": -170.80381774902344
                    }
                },
                "velocity": {
                    "x": -12.869876861572266,
                    "y": -2.0832602977752686,
                    "z": -0.09172681719064713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078104972839355,
                "transform": {
                    "location": {
                        "x": 2946.489990234375,
                        "y": 4265.01708984375,
                        "z": 360.85504150390625
                    },
                    "rotation": {
                        "roll": -6.10332062933594e-05,
                        "pitch": 0.43172940611839294,
                        "yaw": 9.200553894042969
                    }
                },
                "velocity": {
                    "x": 7.973948001861572,
                    "y": 1.2915868759155273,
                    "z": 0.06112455204129219
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986414909362793,
                "transform": {
                    "location": {
                        "x": 2948.333740234375,
                        "y": 4262.0234375,
                        "z": 360.86328125
                    },
                    "rotation": {
                        "roll": 0.001000568619929254,
                        "pitch": 0.4393792152404785,
                        "yaw": 9.207072257995605
                    }
                },
                "velocity": {
                    "x": 7.88329553604126,
                    "y": 1.2777886390686035,
                    "z": 0.06107172742486
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.352224349975586,
                "transform": {
                    "location": {
                        "x": 2889.24658203125,
                        "y": 4248.96923828125,
                        "z": 360.4383850097656
                    },
                    "rotation": {
                        "roll": -0.0009155288571491838,
                        "pitch": -0.43789705634117126,
                        "yaw": -170.82186889648438
                    }
                },
                "velocity": {
                    "x": -13.18082332611084,
                    "y": -2.130615234375,
                    "z": -0.09098316729068756
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.970330238342285,
                "transform": {
                    "location": {
                        "x": 2860.79833984375,
                        "y": 4244.365234375,
                        "z": 360.2385559082031
                    },
                    "rotation": {
                        "roll": -0.00042724687955342233,
                        "pitch": -0.35577088594436646,
                        "yaw": -170.8238067626953
                    }
                },
                "velocity": {
                    "x": -8.855005264282227,
                    "y": -1.4322240352630615,
                    "z": -0.06661363691091537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.35506820678711,
                "transform": {
                    "location": {
                        "x": 2862.756591796875,
                        "y": 4241.390625,
                        "z": 360.2503356933594
                    },
                    "rotation": {
                        "roll": -0.004791259765625,
                        "pitch": -0.1314128339290619,
                        "yaw": -170.6842498779297
                    }
                },
                "velocity": {
                    "x": -8.246809959411621,
                    "y": -1.3392339944839478,
                    "z": -0.06120876967906952
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.880792617797852,
                "transform": {
                    "location": {
                        "x": 2845.1494140625,
                        "y": 4238.5400390625,
                        "z": 360.1167907714844
                    },
                    "rotation": {
                        "roll": 0.0002382628881605342,
                        "pitch": -0.42910662293434143,
                        "yaw": -170.78025817871094
                    }
                },
                "velocity": {
                    "x": -4.818105220794678,
                    "y": -0.7788863182067871,
                    "z": -0.03654446080327034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.981166362762451,
                "transform": {
                    "location": {
                        "x": 2842.217041015625,
                        "y": 4241.35791015625,
                        "z": 360.087646484375
                    },
                    "rotation": {
                        "roll": 5.315235830494203e-05,
                        "pitch": -0.44674214720726013,
                        "yaw": -170.80673217773438
                    }
                },
                "velocity": {
                    "x": -4.917020797729492,
                    "y": -0.795848548412323,
                    "z": -0.039365194737911224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2618863880634308,
        "expert_target_speed": 7.735743281557315,
        "target_point": [
            32.625168437652334,
            -0.03360334602608184
        ],
        "target_point_next": [
            32.625168437652334,
            -0.03360334602608184
        ]
    },
    "400": {
        "acceleration": [
            0.2909374237060547,
            0.054111480712890625,
            0.014729350805282593
        ],
        "angular_velocity": [
            -0.06862622499465942,
            0.2567013204097748,
            -0.01951545663177967
        ],
        "forward_vector": [
            -0.9853388071060181,
            -0.17039725184440613,
            -0.008498447015881538
        ],
        "right_vector": [
            0.17040309309959412,
            -0.9853744506835938,
            3.728287629201077e-05
        ],
        "location": [
            2879.20556640625,
            4244.45556640625,
            360.3631591796875
        ],
        "rotation": [
            -0.0021362286061048508,
            -0.4869309961795807,
            -170.188720703125
        ],
        "velocity": [
            -6.933075428009033,
            -1.1983848810195923,
            -0.04865695536136627
        ],
        "speed": 7.035883826039127,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.842317581176758,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2860.673583984375,
                4241.05224609375,
                360.2369079589844
            ],
            "velocity": [
                -8.119174003601074,
                -1.3167768716812134,
                -0.06050113961100578
            ],
            "speed_kmh": 29.611733905852024,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.069686889648438,
                "transform": {
                    "location": {
                        "x": 2853.729248046875,
                        "y": 4249.96533203125,
                        "z": 360.2245178222656
                    },
                    "rotation": {
                        "roll": 0.007249636109918356,
                        "pitch": 0.6441619396209717,
                        "yaw": 9.56839656829834
                    }
                },
                "velocity": {
                    "x": 7.958430767059326,
                    "y": 1.3339849710464478,
                    "z": 0.060981445014476776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.920441627502441,
                "transform": {
                    "location": {
                        "x": 2857.6640625,
                        "y": 4247.330078125,
                        "z": 360.2172546386719
                    },
                    "rotation": {
                        "roll": 0.009708322584629059,
                        "pitch": 0.41925063729286194,
                        "yaw": 9.474032402038574
                    }
                },
                "velocity": {
                    "x": 7.813401222229004,
                    "y": 1.2963628768920898,
                    "z": 0.05997016653418541
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08377742767334,
                "transform": {
                    "location": {
                        "x": 2905.3515625,
                        "y": 4258.361328125,
                        "z": 360.5627136230469
                    },
                    "rotation": {
                        "roll": -0.00021362215920817107,
                        "pitch": 0.4054195284843445,
                        "yaw": 9.191964149475098
                    }
                },
                "velocity": {
                    "x": 7.979780197143555,
                    "y": 1.291250467300415,
                    "z": 0.05686673894524574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003532409667969,
                "transform": {
                    "location": {
                        "x": 2907.884521484375,
                        "y": 4255.48095703125,
                        "z": 360.5657043457031
                    },
                    "rotation": {
                        "roll": 7.851907139411196e-05,
                        "pitch": 0.40027639269828796,
                        "yaw": 9.19377613067627
                    }
                },
                "velocity": {
                    "x": 7.90073823928833,
                    "y": 1.2773535251617432,
                    "z": 0.05689619854092598
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.309618949890137,
                "transform": {
                    "location": {
                        "x": 2908.093017578125,
                        "y": 4252.017578125,
                        "z": 360.5710754394531
                    },
                    "rotation": {
                        "roll": 0.0007488324190489948,
                        "pitch": -0.5635998845100403,
                        "yaw": -170.80685424804688
                    }
                },
                "velocity": {
                    "x": -12.15118408203125,
                    "y": -1.9666868448257446,
                    "z": -0.08709793537855148
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2948.52587890625,
                        "y": 4265.30126953125,
                        "z": 360.873046875
                    },
                    "rotation": {
                        "roll": 6.6703056411654416e-09,
                        "pitch": 0.4428694546222687,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.385498046875,
                        "y": 4262.26513671875,
                        "z": 360.8855285644531
                    },
                    "rotation": {
                        "roll": 6.6703056411654416e-09,
                        "pitch": 0.4428694546222687,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.217177391052246,
                "transform": {
                    "location": {
                        "x": 2886.1142578125,
                        "y": 4248.46240234375,
                        "z": 360.4167175292969
                    },
                    "rotation": {
                        "roll": -0.000793454353697598,
                        "pitch": -0.5398581027984619,
                        "yaw": -170.81195068359375
                    }
                },
                "velocity": {
                    "x": -12.059986114501953,
                    "y": -1.95169997215271,
                    "z": -0.08384408056735992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.609341621398926,
                "transform": {
                    "location": {
                        "x": 2858.7568359375,
                        "y": 4244.03466796875,
                        "z": 360.22308349609375
                    },
                    "rotation": {
                        "roll": -0.001586914760991931,
                        "pitch": -0.6317992806434631,
                        "yaw": -170.78741455078125
                    }
                },
                "velocity": {
                    "x": -7.5111823081970215,
                    "y": -1.2169750928878784,
                    "z": -0.056522563099861145
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.225481986999512,
                "transform": {
                    "location": {
                        "x": 2860.673583984375,
                        "y": 4241.05224609375,
                        "z": 360.2369079589844
                    },
                    "rotation": {
                        "roll": -0.0005798387574031949,
                        "pitch": -0.3849767744541168,
                        "yaw": -170.74569702148438
                    }
                },
                "velocity": {
                    "x": -8.119174003601074,
                    "y": -1.3167768716812134,
                    "z": -0.06050113961100578
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2265753746032715,
                "transform": {
                    "location": {
                        "x": 2843.879638671875,
                        "y": 4238.33447265625,
                        "z": 360.1075744628906
                    },
                    "rotation": {
                        "roll": 0.0008317433530464768,
                        "pitch": -0.46829140186309814,
                        "yaw": -170.78952026367188
                    }
                },
                "velocity": {
                    "x": -5.159245014190674,
                    "y": -0.8352400660514832,
                    "z": -0.0406804084777832
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.614981651306152,
                "transform": {
                    "location": {
                        "x": 2841.049560546875,
                        "y": 4241.1669921875,
                        "z": 360.0783996582031
                    },
                    "rotation": {
                        "roll": 0.0028030406683683395,
                        "pitch": -0.45523208379745483,
                        "yaw": -171.07992553710938
                    }
                },
                "velocity": {
                    "x": -4.556152820587158,
                    "y": -0.7336466908454895,
                    "z": -0.0359073169529438
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23763597011566162,
        "expert_target_speed": 7.675088945842057,
        "target_point": [
            30.859372012738124,
            -0.03393661503414869
        ],
        "target_point_next": [
            30.859372012738124,
            -0.03393661503414869
        ]
    },
    "405": {
        "acceleration": [
            -0.8927631378173828,
            -0.1205754280090332,
            -0.0033660978078842163
        ],
        "angular_velocity": [
            -0.0248873233795166,
            0.34540829062461853,
            -0.15579770505428314
        ],
        "forward_vector": [
            -0.985406219959259,
            -0.17006921768188477,
            -0.007146177813410759
        ],
        "right_vector": [
            0.1700737327337265,
            -0.9854313135147095,
            -2.5080165869439952e-05
        ],
        "location": [
            2877.46044921875,
            4244.154296875,
            360.3505859375
        ],
        "rotation": [
            0.0014370243297889829,
            -0.40944933891296387,
            -170.20790100097656
        ],
        "velocity": [
            -7.038891315460205,
            -1.2121026515960693,
            -0.04884202033281326
        ],
        "speed": 7.142491427286933,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.756027221679688,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2859.01123046875,
                4240.77783203125,
                360.2305908203125
            ],
            "velocity": [
                -4.058669567108154,
                -0.6721420288085938,
                -0.033406227827072144
            ],
            "speed_kmh": 14.810703440803316,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.221515655517578,
                "transform": {
                    "location": {
                        "x": 2855.77294921875,
                        "y": 4250.30810546875,
                        "z": 360.2414245605469
                    },
                    "rotation": {
                        "roll": 0.005340053699910641,
                        "pitch": 0.5039654970169067,
                        "yaw": 9.519099235534668
                    }
                },
                "velocity": {
                    "x": 8.108444213867188,
                    "y": 1.357415795326233,
                    "z": 0.062225092202425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04078197479248,
                "transform": {
                    "location": {
                        "x": 2859.620849609375,
                        "y": 4247.65283203125,
                        "z": 360.2321472167969
                    },
                    "rotation": {
                        "roll": 0.007532382383942604,
                        "pitch": 0.4335120916366577,
                        "yaw": 9.349797248840332
                    }
                },
                "velocity": {
                    "x": 7.933774948120117,
                    "y": 1.306034803390503,
                    "z": 0.06050542742013931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053803443908691,
                "transform": {
                    "location": {
                        "x": 2907.3427734375,
                        "y": 4258.68359375,
                        "z": 360.5768127441406
                    },
                    "rotation": {
                        "roll": 0.00018868532788474113,
                        "pitch": 0.40437451004981995,
                        "yaw": 9.191851615905762
                    }
                },
                "velocity": {
                    "x": 7.950187683105469,
                    "y": 1.2865060567855835,
                    "z": 0.05626280605792999
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003214836120605,
                "transform": {
                    "location": {
                        "x": 2909.859619140625,
                        "y": 4255.79931640625,
                        "z": 360.5797119140625
                    },
                    "rotation": {
                        "roll": 0.00011136352259200066,
                        "pitch": 0.4037051498889923,
                        "yaw": 9.168800354003906
                    }
                },
                "velocity": {
                    "x": 7.9005279541015625,
                    "y": 1.276680827140808,
                    "z": 0.056569211184978485
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.731828689575195,
                "transform": {
                    "location": {
                        "x": 2905.14306640625,
                        "y": 4251.5400390625,
                        "z": 360.55023193359375
                    },
                    "rotation": {
                        "roll": 0.0015929067740216851,
                        "pitch": -0.532713770866394,
                        "yaw": -170.80772399902344
                    }
                },
                "velocity": {
                    "x": -11.580869674682617,
                    "y": -1.8741827011108398,
                    "z": -0.0817994475364685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.587646484375,
                        "y": 4265.5888671875,
                        "z": 360.8915100097656
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.44189453125,
                        "y": 4262.59375,
                        "z": 360.9020690917969
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.626843452453613,
                "transform": {
                    "location": {
                        "x": 2883.067138671875,
                        "y": 4247.9697265625,
                        "z": 360.3959045410156
                    },
                    "rotation": {
                        "roll": 0.00011256719153607264,
                        "pitch": -0.37985411286354065,
                        "yaw": -170.8052978515625
                    }
                },
                "velocity": {
                    "x": -12.46407413482666,
                    "y": -2.019101142883301,
                    "z": -0.08509456366300583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.862922191619873,
                "transform": {
                    "location": {
                        "x": 2857.126220703125,
                        "y": 4243.77099609375,
                        "z": 360.210693359375
                    },
                    "rotation": {
                        "roll": 0.003965495619922876,
                        "pitch": -0.9199444651603699,
                        "yaw": -170.6244659423828
                    }
                },
                "velocity": {
                    "x": -4.800883769989014,
                    "y": -0.7734206318855286,
                    "z": -0.03674421086907387
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.114084243774414,
                "transform": {
                    "location": {
                        "x": 2859.01123046875,
                        "y": 4240.77783203125,
                        "z": 360.2305908203125
                    },
                    "rotation": {
                        "roll": -3.0508792406180874e-05,
                        "pitch": -1.173303484916687,
                        "yaw": -171.17929077148438
                    }
                },
                "velocity": {
                    "x": -4.058669567108154,
                    "y": -0.6721420288085938,
                    "z": -0.033406227827072144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.073105812072754,
                "transform": {
                    "location": {
                        "x": 2842.6162109375,
                        "y": 4238.12939453125,
                        "z": 360.0972900390625
                    },
                    "rotation": {
                        "roll": 0.0004943421809002757,
                        "pitch": -0.4296598434448242,
                        "yaw": -170.7959747314453
                    }
                },
                "velocity": {
                    "x": -5.007674217224121,
                    "y": -0.8111773729324341,
                    "z": -0.039899662137031555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.5918145179748535,
                "transform": {
                    "location": {
                        "x": 2839.8828125,
                        "y": 4240.9794921875,
                        "z": 360.0693359375
                    },
                    "rotation": {
                        "roll": 0.0003828153130598366,
                        "pitch": -0.43926993012428284,
                        "yaw": -170.9971160888672
                    }
                },
                "velocity": {
                    "x": -4.533034801483154,
                    "y": -0.7314687371253967,
                    "z": -0.036218684166669846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2342245876789093,
        "expert_target_speed": 7.627067127108431,
        "target_point": [
            29.08845044188785,
            -0.023689167195056093
        ],
        "target_point_next": [
            29.08845044188785,
            -0.023689167195056093
        ]
    },
    "410": {
        "acceleration": [
            -0.6656360626220703,
            -0.07287979125976562,
            0.0012052804231643677
        ],
        "angular_velocity": [
            0.02309601567685604,
            0.18484635651111603,
            -0.22880679368972778
        ],
        "forward_vector": [
            -0.9855458736419678,
            -0.16930121183395386,
            -0.006026112008839846
        ],
        "right_vector": [
            0.1693047732114792,
            -0.9855637550354004,
            -7.914978050393984e-05
        ],
        "location": [
            2875.677001953125,
            4243.84765625,
            360.33782958984375
        ],
        "rotation": [
            0.004535031039267778,
            -0.34527286887168884,
            -170.25262451171875
        ],
        "velocity": [
            -7.233017921447754,
            -1.2383806705474854,
            -0.048965901136398315
        ],
        "speed": 7.338265117667119,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.63721466064453,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2858.32958984375,
                4240.66552734375,
                360.2252197265625
            ],
            "velocity": [
                -2.611375331878662,
                -0.418791800737381,
                -0.020884618163108826
            ],
            "speed_kmh": 9.521373119044464,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.787149429321289,
                "transform": {
                    "location": {
                        "x": 2857.731201171875,
                        "y": 4250.634765625,
                        "z": 360.2571105957031
                    },
                    "rotation": {
                        "roll": 0.007487173192203045,
                        "pitch": 0.40891656279563904,
                        "yaw": 9.446049690246582
                    }
                },
                "velocity": {
                    "x": 7.683226585388184,
                    "y": 1.2666822671890259,
                    "z": 0.05693100020289421
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.099333763122559,
                "transform": {
                    "location": {
                        "x": 2861.62158203125,
                        "y": 4247.98193359375,
                        "z": 360.24700927734375
                    },
                    "rotation": {
                        "roll": 0.004926631692796946,
                        "pitch": 0.4336623549461365,
                        "yaw": 9.340503692626953
                    }
                },
                "velocity": {
                    "x": 7.992297649383545,
                    "y": 1.3110206127166748,
                    "z": 0.06005346029996872
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082723617553711,
                "transform": {
                    "location": {
                        "x": 2909.333984375,
                        "y": 4259.00634765625,
                        "z": 360.5909423828125
                    },
                    "rotation": {
                        "roll": 0.0003440860891714692,
                        "pitch": 0.40634840726852417,
                        "yaw": 9.190288543701172
                    }
                },
                "velocity": {
                    "x": 7.978993892669678,
                    "y": 1.2895160913467407,
                    "z": 0.056745536625385284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003256797790527,
                "transform": {
                    "location": {
                        "x": 2911.8349609375,
                        "y": 4256.11767578125,
                        "z": 360.5937805175781
                    },
                    "rotation": {
                        "roll": 2.4750046577537432e-05,
                        "pitch": 0.40434035658836365,
                        "yaw": 9.190286636352539
                    }
                },
                "velocity": {
                    "x": 7.900537967681885,
                    "y": 1.2768627405166626,
                    "z": 0.056944675743579865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.181730270385742,
                "transform": {
                    "location": {
                        "x": 2902.2001953125,
                        "y": 4251.0634765625,
                        "z": 360.5296936035156
                    },
                    "rotation": {
                        "roll": -0.00021362429833970964,
                        "pitch": -0.3567202687263489,
                        "yaw": -170.8077850341797
                    }
                },
                "velocity": {
                    "x": -12.025019645690918,
                    "y": -1.945871353149414,
                    "z": -0.08376966416835785
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4606,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.64404296875,
                        "y": 4265.91748046875,
                        "z": 360.9080810546875
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4605,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2954.498291015625,
                        "y": 4262.92236328125,
                        "z": 360.9187316894531
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.075911521911621,
                "transform": {
                    "location": {
                        "x": 2879.974853515625,
                        "y": 4247.46875,
                        "z": 360.37457275390625
                    },
                    "rotation": {
                        "roll": -0.00021362364350352436,
                        "pitch": -0.45809394121170044,
                        "yaw": -170.79220581054688
                    }
                },
                "velocity": {
                    "x": -11.920198440551758,
                    "y": -1.9312140941619873,
                    "z": -0.08319596946239471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.641200065612793,
                "transform": {
                    "location": {
                        "x": 2856.44677734375,
                        "y": 4243.66259765625,
                        "z": 360.2051086425781
                    },
                    "rotation": {
                        "roll": -0.01153565663844347,
                        "pitch": -0.9019742608070374,
                        "yaw": -170.46481323242188
                    }
                },
                "velocity": {
                    "x": -2.6064348220825195,
                    "y": -0.4267100393772125,
                    "z": -0.018799791112542152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6448259353637695,
                "transform": {
                    "location": {
                        "x": 2858.32958984375,
                        "y": 4240.66552734375,
                        "z": 360.2252197265625
                    },
                    "rotation": {
                        "roll": 0.01947321929037571,
                        "pitch": -1.1759263277053833,
                        "yaw": -171.2715606689453
                    }
                },
                "velocity": {
                    "x": -2.611375331878662,
                    "y": -0.418791800737381,
                    "z": -0.020884618163108826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.673773288726807,
                "transform": {
                    "location": {
                        "x": 2841.429931640625,
                        "y": 4237.9375,
                        "z": 360.087646484375
                    },
                    "rotation": {
                        "roll": -0.0005798368365503848,
                        "pitch": -0.40505751967430115,
                        "yaw": -170.80030822753906
                    }
                },
                "velocity": {
                    "x": -4.6137919425964355,
                    "y": -0.745518684387207,
                    "z": -0.03581657633185387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.26082181930542,
                "transform": {
                    "location": {
                        "x": 2838.80419921875,
                        "y": 4240.80615234375,
                        "z": 360.0611267089844
                    },
                    "rotation": {
                        "roll": 0.0012866226024925709,
                        "pitch": -0.4473568797111511,
                        "yaw": -170.90855407714844
                    }
                },
                "velocity": {
                    "x": -4.206063747406006,
                    "y": -0.6801061630249023,
                    "z": -0.03296750411391258
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2095324844121933,
        "expert_target_speed": 7.646040654711183,
        "target_point": [
            27.278843384813097,
            -0.0012651188666206181
        ],
        "target_point_next": [
            27.278843384813097,
            -0.0012651188666206181
        ]
    },
    "415": {
        "acceleration": [
            -1.2357521057128906,
            -0.11709451675415039,
            -0.012095868587493896
        ],
        "angular_velocity": [
            0.062339212745428085,
            0.0669238492846489,
            -0.5788875222206116
        ],
        "forward_vector": [
            -0.9858417510986328,
            -0.16759169101715088,
            -0.005380127113312483
        ],
        "right_vector": [
            0.16759555041790009,
            -0.985855758190155,
            -0.00027285065152682364
        ],
        "location": [
            2873.83203125,
            4243.53369140625,
            360.3247985839844
        ],
        "rotation": [
            0.015633417293429375,
            -0.30826008319854736,
            -170.35203552246094
        ],
        "velocity": [
            -7.508284091949463,
            -1.2662135362625122,
            -0.05354081839323044
        ],
        "speed": 7.6143040867065315,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.478530883789062,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2857.62548828125,
                4240.55419921875,
                360.2126770019531
            ],
            "velocity": [
                -3.033926248550415,
                -0.4864676594734192,
                -0.0218488872051239
            ],
            "speed_kmh": 11.061925819874485,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.162068367004395,
                "transform": {
                    "location": {
                        "x": 2859.69677734375,
                        "y": 4250.958984375,
                        "z": 360.2713928222656
                    },
                    "rotation": {
                        "roll": 0.0043304963037371635,
                        "pitch": 0.44410571455955505,
                        "yaw": 9.356464385986328
                    }
                },
                "velocity": {
                    "x": 8.053969383239746,
                    "y": 1.3226208686828613,
                    "z": 0.06004968658089638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9997029304504395,
                "transform": {
                    "location": {
                        "x": 2863.603271484375,
                        "y": 4248.3056640625,
                        "z": 360.2617492675781
                    },
                    "rotation": {
                        "roll": 0.005246993154287338,
                        "pitch": 0.41507741808891296,
                        "yaw": 9.263945579528809
                    }
                },
                "velocity": {
                    "x": 7.895177364349365,
                    "y": 1.2875393629074097,
                    "z": 0.06055941432714462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0532808303833,
                "transform": {
                    "location": {
                        "x": 2911.32470703125,
                        "y": 4259.328125,
                        "z": 360.6050720214844
                    },
                    "rotation": {
                        "roll": -9.154952567769215e-05,
                        "pitch": 0.40802866220474243,
                        "yaw": 9.186985969543457
                    }
                },
                "velocity": {
                    "x": 7.949776649475098,
                    "y": 1.2857705354690552,
                    "z": 0.05640227347612381
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003259658813477,
                "transform": {
                    "location": {
                        "x": 2913.809814453125,
                        "y": 4256.43701171875,
                        "z": 360.6078796386719
                    },
                    "rotation": {
                        "roll": -0.00012207265535835177,
                        "pitch": 0.4043335020542145,
                        "yaw": 9.17078685760498
                    }
                },
                "velocity": {
                    "x": 7.9004998207092285,
                    "y": 1.2771368026733398,
                    "z": 0.05654587596654892
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.429170608520508,
                "transform": {
                    "location": {
                        "x": 2899.25732421875,
                        "y": 4250.58740234375,
                        "z": 360.50909423828125
                    },
                    "rotation": {
                        "roll": 0.0012079221196472645,
                        "pitch": -0.49990835785865784,
                        "yaw": -170.8113250732422
                    }
                },
                "velocity": {
                    "x": -11.28221607208252,
                    "y": -1.8252112865447998,
                    "z": -0.07840742915868759
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.387818336486816,
                "transform": {
                    "location": {
                        "x": 2877.171875,
                        "y": 4247.01513671875,
                        "z": 360.3548278808594
                    },
                    "rotation": {
                        "roll": 0.0005334999295882881,
                        "pitch": -0.6228312849998474,
                        "yaw": -170.82147216796875
                    }
                },
                "velocity": {
                    "x": -10.25418472290039,
                    "y": -1.659334659576416,
                    "z": -0.07121770828962326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.200088024139404,
                "transform": {
                    "location": {
                        "x": 2855.592529296875,
                        "y": 4243.52294921875,
                        "z": 360.1988525390625
                    },
                    "rotation": {
                        "roll": -0.0018920908914878964,
                        "pitch": -0.2952212393283844,
                        "yaw": -170.58096313476562
                    }
                },
                "velocity": {
                    "x": -4.145053386688232,
                    "y": -0.6769728064537048,
                    "z": -0.03129170835018158
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.0727572441101074,
                "transform": {
                    "location": {
                        "x": 2857.62548828125,
                        "y": 4240.55419921875,
                        "z": 360.2126770019531
                    },
                    "rotation": {
                        "roll": 0.005034971050918102,
                        "pitch": -0.2973659336566925,
                        "yaw": -171.15777587890625
                    }
                },
                "velocity": {
                    "x": -3.033926248550415,
                    "y": -0.4864676594734192,
                    "z": -0.0218488872051239
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.470820426940918,
                "transform": {
                    "location": {
                        "x": 2840.293701171875,
                        "y": 4237.75341796875,
                        "z": 360.0790100097656
                    },
                    "rotation": {
                        "roll": 0.00017975069931708276,
                        "pitch": -0.4135406017303467,
                        "yaw": -170.80149841308594
                    }
                },
                "velocity": {
                    "x": -4.413484573364258,
                    "y": -0.7129247784614563,
                    "z": -0.033566590398550034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.113092422485352,
                "transform": {
                    "location": {
                        "x": 2837.765625,
                        "y": 4240.638671875,
                        "z": 360.05316162109375
                    },
                    "rotation": {
                        "roll": 0.0008555095409974456,
                        "pitch": -0.43875083327293396,
                        "yaw": -170.85751342773438
                    }
                },
                "velocity": {
                    "x": -4.060111999511719,
                    "y": -0.6572464108467102,
                    "z": -0.03237026184797287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1916615068912506,
        "expert_target_speed": 7.765664159120506,
        "target_point": [
            25.40731024329868,
            0.04576377101103102
        ],
        "target_point_next": [
            25.40731024329868,
            0.04576377101103102
        ]
    },
    "420": {
        "acceleration": [
            1.531982421875,
            0.32555341720581055,
            0.0019085407257080078
        ],
        "angular_velocity": [
            0.13695202767848969,
            -0.6818177700042725,
            -0.5780422687530518
        ],
        "forward_vector": [
            -0.9862579107284546,
            -0.16507166624069214,
            -0.006830877158790827
        ],
        "right_vector": [
            0.16507819294929504,
            -0.9862803816795349,
            -0.000399391254177317
        ],
        "location": [
            2871.957763671875,
            4243.2197265625,
            360.3117370605469
        ],
        "rotation": [
            0.02288396656513214,
            -0.39138346910476685,
            -170.49838256835938
        ],
        "velocity": [
            -7.4014892578125,
            -1.2291728258132935,
            -0.05250578373670578
        ],
        "speed": 7.50286005928617,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.456912994384766,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2856.7578125,
                4240.4150390625,
                360.205078125
            ],
            "velocity": [
                -3.9198296070098877,
                -0.630508303642273,
                -0.029402097687125206
            ],
            "speed_kmh": 14.293164898154226,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005602836608887,
                "transform": {
                    "location": {
                        "x": 2861.700439453125,
                        "y": 4251.2880859375,
                        "z": 360.28656005859375
                    },
                    "rotation": {
                        "roll": 0.003922371193766594,
                        "pitch": 0.4200771152973175,
                        "yaw": 9.319469451904297
                    }
                },
                "velocity": {
                    "x": 7.900532245635986,
                    "y": 1.2913784980773926,
                    "z": 0.060080792754888535
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064105033874512,
                "transform": {
                    "location": {
                        "x": 2865.5849609375,
                        "y": 4248.62939453125,
                        "z": 360.2763977050781
                    },
                    "rotation": {
                        "roll": 0.0017857225611805916,
                        "pitch": 0.42162755131721497,
                        "yaw": 9.274141311645508
                    }
                },
                "velocity": {
                    "x": 7.95890474319458,
                    "y": 1.2970751523971558,
                    "z": 0.05664639174938202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.083430290222168,
                "transform": {
                    "location": {
                        "x": 2913.316162109375,
                        "y": 4259.650390625,
                        "z": 360.61932373046875
                    },
                    "rotation": {
                        "roll": 0.0001461791107431054,
                        "pitch": 0.4098113179206848,
                        "yaw": 9.184715270996094
                    }
                },
                "velocity": {
                    "x": 7.9796142578125,
                    "y": 1.29010009765625,
                    "z": 0.056981198489665985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003260612487793,
                "transform": {
                    "location": {
                        "x": 2915.78515625,
                        "y": 4256.75537109375,
                        "z": 360.6220703125
                    },
                    "rotation": {
                        "roll": 0.0005087685422040522,
                        "pitch": 0.4077417850494385,
                        "yaw": 9.193303108215332
                    }
                },
                "velocity": {
                    "x": 7.900383949279785,
                    "y": 1.2778397798538208,
                    "z": 0.05686170607805252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.799324989318848,
                "transform": {
                    "location": {
                        "x": 2896.614990234375,
                        "y": 4250.16015625,
                        "z": 360.49078369140625
                    },
                    "rotation": {
                        "roll": 0.0006207257974892855,
                        "pitch": -0.6695839166641235,
                        "yaw": -170.81533813476562
                    }
                },
                "velocity": {
                    "x": -9.673462867736816,
                    "y": -1.5640956163406372,
                    "z": -0.06707838177680969
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.573724746704102,
                "transform": {
                    "location": {
                        "x": 2874.861572265625,
                        "y": 4246.6416015625,
                        "z": 360.338623046875
                    },
                    "rotation": {
                        "roll": -6.104239582782611e-05,
                        "pitch": -0.6762979626655579,
                        "yaw": -170.811279296875
                    }
                },
                "velocity": {
                    "x": -8.463555335998535,
                    "y": -1.3687305450439453,
                    "z": -0.059730879962444305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3472466468811035,
                "transform": {
                    "location": {
                        "x": 2854.37744140625,
                        "y": 4243.32470703125,
                        "z": 360.18994140625
                    },
                    "rotation": {
                        "roll": 0.002017483115196228,
                        "pitch": -0.20236483216285706,
                        "yaw": -170.68701171875
                    }
                },
                "velocity": {
                    "x": -5.277731418609619,
                    "y": -0.8584456443786621,
                    "z": -0.0408584401011467
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9703235626220703,
                "transform": {
                    "location": {
                        "x": 2856.7578125,
                        "y": 4240.4150390625,
                        "z": 360.205078125
                    },
                    "rotation": {
                        "roll": -0.003082273993641138,
                        "pitch": -0.14949917793273926,
                        "yaw": -171.04656982421875
                    }
                },
                "velocity": {
                    "x": -3.9198296070098877,
                    "y": -0.630508303642273,
                    "z": -0.029402097687125206
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.286843299865723,
                "transform": {
                    "location": {
                        "x": 2839.215576171875,
                        "y": 4237.57861328125,
                        "z": 360.07080078125
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.41522082686424255,
                        "yaw": -170.80465698242188
                    }
                },
                "velocity": {
                    "x": -4.231601238250732,
                    "y": -0.6851891279220581,
                    "z": -0.03306907042860985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.1478118896484375,
                "transform": {
                    "location": {
                        "x": 2836.7666015625,
                        "y": 4240.47705078125,
                        "z": 360.0452575683594
                    },
                    "rotation": {
                        "roll": -0.00036620927858166397,
                        "pitch": -0.4331022799015045,
                        "yaw": -170.8320770263672
                    }
                },
                "velocity": {
                    "x": -4.094511032104492,
                    "y": -0.6621419191360474,
                    "z": -0.029804376885294914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19280090928077698,
        "expert_target_speed": 7.634999614511063,
        "target_point": [
            23.50672822493088,
            0.11039017879470725
        ],
        "target_point_next": [
            23.50672822493088,
            0.11039017879470725
        ]
    },
    "425": {
        "acceleration": [
            1.3369560241699219,
            0.30284643173217773,
            0.0037254393100738525
        ],
        "angular_velocity": [
            0.07791983336210251,
            -0.2984289228916168,
            -0.5769416689872742
        ],
        "forward_vector": [
            -0.9866541028022766,
            -0.16257737576961517,
            -0.009067411534488201
        ],
        "right_vector": [
            0.16258810460567474,
            -0.9866939187049866,
            -0.00045316992327570915
        ],
        "location": [
            2870.15576171875,
            4242.92236328125,
            360.29925537109375
        ],
        "rotation": [
            0.025965793058276176,
            -0.5195314884185791,
            -170.64308166503906
        ],
        "velocity": [
            -7.021291732788086,
            -1.1470611095428467,
            -0.052018992602825165
        ],
        "speed": 7.114371847601444,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.772845268249512,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2855.6298828125,
                4240.234375,
                360.1966857910156
            ],
            "velocity": [
                -5.029562473297119,
                -0.8109309673309326,
                -0.03646154701709747
            ],
            "speed_kmh": 18.34073241385894,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9794111251831055,
                "transform": {
                    "location": {
                        "x": 2863.662841796875,
                        "y": 4251.6083984375,
                        "z": 360.3012390136719
                    },
                    "rotation": {
                        "roll": 0.003223420586436987,
                        "pitch": 0.41637513041496277,
                        "yaw": 9.268793106079102
                    }
                },
                "velocity": {
                    "x": 7.875468730926514,
                    "y": 1.282448649406433,
                    "z": 0.05765349417924881
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047041893005371,
                "transform": {
                    "location": {
                        "x": 2867.57421875,
                        "y": 4248.953125,
                        "z": 360.2908020019531
                    },
                    "rotation": {
                        "roll": 0.0026714892592281103,
                        "pitch": 0.41007086634635925,
                        "yaw": 9.226061820983887
                    }
                },
                "velocity": {
                    "x": 7.942660331726074,
                    "y": 1.2906475067138672,
                    "z": 0.05709882453083992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0529146194458,
                "transform": {
                    "location": {
                        "x": 2915.30712890625,
                        "y": 4259.97216796875,
                        "z": 360.633544921875
                    },
                    "rotation": {
                        "roll": -0.0007324199541471899,
                        "pitch": 0.4114915430545807,
                        "yaw": 9.183703422546387
                    }
                },
                "velocity": {
                    "x": 7.949493885040283,
                    "y": 1.2852169275283813,
                    "z": 0.056627873331308365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003284454345703,
                "transform": {
                    "location": {
                        "x": 2917.76025390625,
                        "y": 4257.07568359375,
                        "z": 360.6363220214844
                    },
                    "rotation": {
                        "roll": -3.0516514016198926e-05,
                        "pitch": 0.4091692864894867,
                        "yaw": 9.177979469299316
                    }
                },
                "velocity": {
                    "x": 7.900349140167236,
                    "y": 1.2782069444656372,
                    "z": 0.05684993788599968
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.503880500793457,
                "transform": {
                    "location": {
                        "x": 2894.42529296875,
                        "y": 4249.8056640625,
                        "z": 360.4756164550781
                    },
                    "rotation": {
                        "roll": -0.0013427764642983675,
                        "pitch": -0.6660458445549011,
                        "yaw": -170.8054962158203
                    }
                },
                "velocity": {
                    "x": -8.39445972442627,
                    "y": -1.3585847616195679,
                    "z": -0.05730124190449715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.462294578552246,
                "transform": {
                    "location": {
                        "x": 2872.795166015625,
                        "y": 4246.3076171875,
                        "z": 360.3242492675781
                    },
                    "rotation": {
                        "roll": -0.0003662154485937208,
                        "pitch": -0.48800334334373474,
                        "yaw": -170.82313537597656
                    }
                },
                "velocity": {
                    "x": -8.353460311889648,
                    "y": -1.35152268409729,
                    "z": -0.059314001351594925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.489278793334961,
                "transform": {
                    "location": {
                        "x": 2852.96484375,
                        "y": 4243.095703125,
                        "z": 360.1789855957031
                    },
                    "rotation": {
                        "roll": 0.004925127606838942,
                        "pitch": -0.18169668316841125,
                        "yaw": -170.78704833984375
                    }
                },
                "velocity": {
                    "x": -6.405939102172852,
                    "y": -1.0354877710342407,
                    "z": -0.04948557913303375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0946478843688965,
                "transform": {
                    "location": {
                        "x": 2855.6298828125,
                        "y": 4240.234375,
                        "z": 360.1966857910156
                    },
                    "rotation": {
                        "roll": -0.0023803715594112873,
                        "pitch": -0.17102110385894775,
                        "yaw": -170.9521484375
                    }
                },
                "velocity": {
                    "x": -5.029562473297119,
                    "y": -0.8109309673309326,
                    "z": -0.03646154701709747
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.068597793579102,
                "transform": {
                    "location": {
                        "x": 2838.18798828125,
                        "y": 4237.41259765625,
                        "z": 360.0628356933594
                    },
                    "rotation": {
                        "roll": 4.932003503199667e-05,
                        "pitch": -0.41119101643562317,
                        "yaw": -170.8022918701172
                    }
                },
                "velocity": {
                    "x": -4.0161614418029785,
                    "y": -0.650324285030365,
                    "z": -0.031853340566158295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.001079559326172,
                "transform": {
                    "location": {
                        "x": 2835.640869140625,
                        "y": 4240.29541015625,
                        "z": 360.03668212890625
                    },
                    "rotation": {
                        "roll": -3.051982639590278e-05,
                        "pitch": -0.403199702501297,
                        "yaw": -170.81687927246094
                    }
                },
                "velocity": {
                    "x": -4.936761856079102,
                    "y": -0.7986559271812439,
                    "z": -0.03642481565475464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21549777686595917,
        "expert_target_speed": 7.354043830826886,
        "target_point": [
            21.680002199845347,
            0.16932222723711954
        ],
        "target_point_next": [
            21.680002199845347,
            0.16932222723711954
        ]
    },
    "430": {
        "acceleration": [
            2.1635913848876953,
            0.40698766708374023,
            -0.0005148351192474365
        ],
        "angular_velocity": [
            0.032661791890859604,
            -0.2482873648405075,
            -0.5272020697593689
        ],
        "forward_vector": [
            -0.9870308041572571,
            -0.16020634770393372,
            -0.010204018093645573
        ],
        "right_vector": [
            0.1602189838886261,
            -0.9870813488960266,
            -0.00042842081165872514
        ],
        "location": [
            2868.462158203125,
            4242.6474609375,
            360.2872314453125
        ],
        "rotation": [
            0.024547981098294258,
            -0.5846573114395142,
            -170.7806396484375
        ],
        "velocity": [
            -6.555445194244385,
            -1.0545796155929565,
            -0.04848986864089966
        ],
        "speed": 6.639728899613748,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.410605430603027,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2854.29345703125,
                4240.02001953125,
                360.1871032714844
            ],
            "velocity": [
                -5.899926662445068,
                -0.9509270787239075,
                -0.0456908643245697
            ],
            "speed_kmh": 21.5144760623927,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.067473411560059,
                "transform": {
                    "location": {
                        "x": 2865.647216796875,
                        "y": 4251.931640625,
                        "z": 360.3156433105469
                    },
                    "rotation": {
                        "roll": 0.0008692350820638239,
                        "pitch": 0.4214431345462799,
                        "yaw": 9.252790451049805
                    }
                },
                "velocity": {
                    "x": 7.962290287017822,
                    "y": 1.2972239255905151,
                    "z": 0.05716126412153244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.03735065460205,
                "transform": {
                    "location": {
                        "x": 2869.557373046875,
                        "y": 4249.275390625,
                        "z": 360.30511474609375
                    },
                    "rotation": {
                        "roll": 0.003150675445795059,
                        "pitch": 0.4106309413909912,
                        "yaw": 9.234533309936523
                    }
                },
                "velocity": {
                    "x": 7.9333815574646,
                    "y": 1.2873356342315674,
                    "z": 0.05686952546238899
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.083406448364258,
                "transform": {
                    "location": {
                        "x": 2917.29833984375,
                        "y": 4260.294921875,
                        "z": 360.64794921875
                    },
                    "rotation": {
                        "roll": 0.00017572185606695712,
                        "pitch": 0.4131649434566498,
                        "yaw": 9.186996459960938
                    }
                },
                "velocity": {
                    "x": 7.979516983032227,
                    "y": 1.2905553579330444,
                    "z": 0.05690908432006836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002930641174316,
                "transform": {
                    "location": {
                        "x": 2919.7353515625,
                        "y": 4257.39599609375,
                        "z": 360.65057373046875
                    },
                    "rotation": {
                        "roll": 0.001426815870217979,
                        "pitch": 0.41099977493286133,
                        "yaw": 9.201852798461914
                    }
                },
                "velocity": {
                    "x": 7.899820327758789,
                    "y": 1.2792659997940063,
                    "z": 0.05666297674179077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.127219200134277,
                "transform": {
                    "location": {
                        "x": 2892.26806640625,
                        "y": 4249.45703125,
                        "z": 360.46087646484375
                    },
                    "rotation": {
                        "roll": -0.0014953622594475746,
                        "pitch": -0.36013537645339966,
                        "yaw": -170.81915283203125
                    }
                },
                "velocity": {
                    "x": -9.009824752807617,
                    "y": -1.4578722715377808,
                    "z": -0.06168130785226822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.212669372558594,
                "transform": {
                    "location": {
                        "x": 2870.596435546875,
                        "y": 4245.95166015625,
                        "z": 360.3087463378906
                    },
                    "rotation": {
                        "roll": 3.7256526411511004e-05,
                        "pitch": -0.3378894329071045,
                        "yaw": -170.78549194335938
                    }
                },
                "velocity": {
                    "x": -9.0940523147583,
                    "y": -1.4721572399139404,
                    "z": -0.0651172548532486
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.72493314743042,
                "transform": {
                    "location": {
                        "x": 2851.26708984375,
                        "y": 4242.8212890625,
                        "z": 360.1658020019531
                    },
                    "rotation": {
                        "roll": 0.001967702293768525,
                        "pitch": -0.14299683272838593,
                        "yaw": -170.79042053222656
                    }
                },
                "velocity": {
                    "x": -7.625497341156006,
                    "y": -1.2340831756591797,
                    "z": -0.05850876495242119
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.976243495941162,
                "transform": {
                    "location": {
                        "x": 2854.29345703125,
                        "y": 4240.02001953125,
                        "z": 360.1871032714844
                    },
                    "rotation": {
                        "roll": -0.0024108863435685635,
                        "pitch": -0.2421848326921463,
                        "yaw": -170.78797912597656
                    }
                },
                "velocity": {
                    "x": -5.899926662445068,
                    "y": -0.9509270787239075,
                    "z": -0.0456908643245697
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.405355930328369,
                "transform": {
                    "location": {
                        "x": 2837.170166015625,
                        "y": 4237.248046875,
                        "z": 360.055419921875
                    },
                    "rotation": {
                        "roll": -0.0003356935048941523,
                        "pitch": -0.4513252079486847,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": -4.348658084869385,
                    "y": -0.7037654519081116,
                    "z": -0.03236974775791168
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.314847946166992,
                "transform": {
                    "location": {
                        "x": 2834.35400390625,
                        "y": 4240.0869140625,
                        "z": 360.02734375
                    },
                    "rotation": {
                        "roll": 0.0020324529614299536,
                        "pitch": -0.40764614939689636,
                        "yaw": -170.8321533203125
                    }
                },
                "velocity": {
                    "x": -5.2464118003845215,
                    "y": -0.8492641448974609,
                    "z": -0.038977887481451035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2262813150882721,
        "expert_target_speed": 7.018189767739696,
        "target_point": [
            19.96376393099572,
            0.22136176728023527
        ],
        "target_point_next": [
            19.96376393099572,
            0.22136176728023527
        ]
    },
    "435": {
        "acceleration": [
            1.0616493225097656,
            0.23533940315246582,
            -0.0033956021070480347
        ],
        "angular_velocity": [
            0.031229857355356216,
            0.09805198758840561,
            -0.5062859058380127
        ],
        "forward_vector": [
            -0.9873858094215393,
            -0.1579902470111847,
            -0.010407974012196064
        ],
        "right_vector": [
            0.15800319612026215,
            -0.9874384999275208,
            -0.0004296742263250053
        ],
        "location": [
            2866.873779296875,
            4242.3935546875,
            360.2756652832031
        ],
        "rotation": [
            0.024619853124022484,
            -0.5963437557220459,
            -170.90924072265625
        ],
        "velocity": [
            -6.17876672744751,
            -0.9788826704025269,
            -0.045064568519592285
        ],
        "speed": 6.2558268481973505,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.394766807556152,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2852.72119140625,
                4239.76611328125,
                360.17510986328125
            ],
            "velocity": [
                -6.69582462310791,
                -1.0872793197631836,
                -0.05149281397461891
            ],
            "speed_kmh": 24.421402129155503,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012682914733887,
                "transform": {
                    "location": {
                        "x": 2867.631591796875,
                        "y": 4252.25439453125,
                        "z": 360.330078125
                    },
                    "rotation": {
                        "roll": 0.00045684698852710426,
                        "pitch": 0.40489357709884644,
                        "yaw": 9.232537269592285
                    }
                },
                "velocity": {
                    "x": 7.908973217010498,
                    "y": 1.2837612628936768,
                    "z": 0.05655783414840698
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053306579589844,
                "transform": {
                    "location": {
                        "x": 2871.54345703125,
                        "y": 4249.59716796875,
                        "z": 360.3193664550781
                    },
                    "rotation": {
                        "roll": 0.0012881872244179249,
                        "pitch": 0.4098864495754242,
                        "yaw": 9.193634986877441
                    }
                },
                "velocity": {
                    "x": 7.949384689331055,
                    "y": 1.2883265018463135,
                    "z": 0.056927308440208435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0529146194458,
                "transform": {
                    "location": {
                        "x": 2919.28955078125,
                        "y": 4260.61669921875,
                        "z": 360.6623840332031
                    },
                    "rotation": {
                        "roll": -0.00039672828279435635,
                        "pitch": 0.4145856201648712,
                        "yaw": 9.18445110321045
                    }
                },
                "velocity": {
                    "x": 7.949477195739746,
                    "y": 1.2853187322616577,
                    "z": 0.05659620091319084
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003372192382812,
                "transform": {
                    "location": {
                        "x": 2921.710205078125,
                        "y": 4257.71630859375,
                        "z": 360.6649169921875
                    },
                    "rotation": {
                        "roll": 0.0005643322947435081,
                        "pitch": 0.4130829870700836,
                        "yaw": 9.183676719665527
                    }
                },
                "velocity": {
                    "x": 7.900472640991211,
                    "y": 1.278001070022583,
                    "z": 0.056636273860931396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.17951774597168,
                "transform": {
                    "location": {
                        "x": 2889.927001953125,
                        "y": 4249.078125,
                        "z": 360.44482421875
                    },
                    "rotation": {
                        "roll": -0.0009460436995141208,
                        "pitch": -0.2012924998998642,
                        "yaw": -170.80909729003906
                    }
                },
                "velocity": {
                    "x": -10.048619270324707,
                    "y": -1.6257821321487427,
                    "z": -0.06839307397603989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.796142578125,
                        "y": 4255.794921875,
                        "z": 360.8846130371094
                    },
                    "rotation": {
                        "roll": 3.075015774811618e-05,
                        "pitch": -0.45443296432495117,
                        "yaw": -170.83657836914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.249906539916992,
                "transform": {
                    "location": {
                        "x": 2868.4306640625,
                        "y": 4245.6005859375,
                        "z": 360.29290771484375
                    },
                    "rotation": {
                        "roll": 1.1456354513939004e-05,
                        "pitch": -0.5061306357383728,
                        "yaw": -170.81846618652344
                    }
                },
                "velocity": {
                    "x": -8.14356517791748,
                    "y": -1.3189843893051147,
                    "z": -0.05976809188723564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.82958984375,
                        "y": 4254.18310546875,
                        "z": 360.8163146972656
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -0.40203857421875,
                        "yaw": -170.80477905273438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.999403476715088,
                "transform": {
                    "location": {
                        "x": 2849.42529296875,
                        "y": 4242.5224609375,
                        "z": 360.1515197753906
                    },
                    "rotation": {
                        "roll": -0.00219726306386292,
                        "pitch": -0.46807965636253357,
                        "yaw": -170.72430419921875
                    }
                },
                "velocity": {
                    "x": -6.909077167510986,
                    "y": -1.1195201873779297,
                    "z": -0.05453261360526085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.783722877502441,
                "transform": {
                    "location": {
                        "x": 2852.72119140625,
                        "y": 4239.76611328125,
                        "z": 360.17510986328125
                    },
                    "rotation": {
                        "roll": -0.0054016089998185635,
                        "pitch": -0.27048230171203613,
                        "yaw": -170.66995239257812
                    }
                },
                "velocity": {
                    "x": -6.69582462310791,
                    "y": -1.0872793197631836,
                    "z": -0.05149281397461891
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.26301908493042,
                "transform": {
                    "location": {
                        "x": 2835.957763671875,
                        "y": 4237.0517578125,
                        "z": 360.0464782714844
                    },
                    "rotation": {
                        "roll": -0.02401733212172985,
                        "pitch": -0.524749755859375,
                        "yaw": -170.8060760498047
                    }
                },
                "velocity": {
                    "x": -5.195234775543213,
                    "y": -0.840923011302948,
                    "z": -0.041834816336631775
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.276095390319824,
                "transform": {
                    "location": {
                        "x": 2832.9296875,
                        "y": 4239.85595703125,
                        "z": 360.01678466796875
                    },
                    "rotation": {
                        "roll": 0.04597420245409012,
                        "pitch": -0.37518227100372314,
                        "yaw": -170.82498168945312
                    }
                },
                "velocity": {
                    "x": -6.1950578689575195,
                    "y": -1.0044209957122803,
                    "z": -0.0420554056763649
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4442,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": -0.0005493136122822762,
                        "pitch": -0.40438133478164673,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 4441,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635498046875,
                        "y": 4250.19189453125,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0010033503640443087,
                        "pitch": -0.41436704993247986,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4440,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23315931856632233,
        "expert_target_speed": 6.766552454541038,
        "target_point": [
            18.354672161181057,
            0.2664143944156079
        ],
        "target_point_next": [
            18.354672161181057,
            0.2664143944156079
        ]
    },
    "440": {
        "acceleration": [
            1.0558414459228516,
            0.20782947540283203,
            0.010361000895500183
        ],
        "angular_velocity": [
            -0.039080943912267685,
            0.1298903375864029,
            -0.4746335446834564
        ],
        "forward_vector": [
            -0.987725555896759,
            -0.15587502717971802,
            -0.010061213746666908
        ],
        "right_vector": [
            0.15588676929473877,
            -0.9877749085426331,
            -0.00038976213545538485
        ],
        "location": [
            2865.372314453125,
            4242.15673828125,
            360.2646484375
        ],
        "rotation": [
            0.02233285643160343,
            -0.5764747858047485,
            -171.03199768066406
        ],
        "velocity": [
            -5.8834710121154785,
            -0.919357180595398,
            -0.04415101557970047
        ],
        "speed": 5.954867653937865,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.666617393493652,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2850.952392578125,
                4239.47998046875,
                360.1622619628906
            ],
            "velocity": [
                -6.194751262664795,
                -1.0045039653778076,
                -0.04887613281607628
            ],
            "speed_kmh": 22.593079238483895,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005302429199219,
                "transform": {
                    "location": {
                        "x": 2869.604736328125,
                        "y": 4252.57470703125,
                        "z": 360.34429931640625
                    },
                    "rotation": {
                        "roll": 0.0009160759509541094,
                        "pitch": 0.4107675552368164,
                        "yaw": 9.21934700012207
                    }
                },
                "velocity": {
                    "x": 7.901927471160889,
                    "y": 1.2810865640640259,
                    "z": 0.05681273341178894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042035102844238,
                "transform": {
                    "location": {
                        "x": 2873.529052734375,
                        "y": 4249.919921875,
                        "z": 360.33343505859375
                    },
                    "rotation": {
                        "roll": 0.0003367150784470141,
                        "pitch": 0.39779019355773926,
                        "yaw": 9.219693183898926
                    }
                },
                "velocity": {
                    "x": 7.938337326049805,
                    "y": 1.2860581874847412,
                    "z": 0.05641473829746246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.083428382873535,
                "transform": {
                    "location": {
                        "x": 2921.28076171875,
                        "y": 4260.93896484375,
                        "z": 360.6767883300781
                    },
                    "rotation": {
                        "roll": -0.000946049636695534,
                        "pitch": 0.41723573207855225,
                        "yaw": 9.184004783630371
                    }
                },
                "velocity": {
                    "x": 7.979615211486816,
                    "y": 1.2900755405426025,
                    "z": 0.057148415595293045
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0034818649292,
                "transform": {
                    "location": {
                        "x": 2923.685546875,
                        "y": 4258.0361328125,
                        "z": 360.6793212890625
                    },
                    "rotation": {
                        "roll": 0.0012758875964209437,
                        "pitch": 0.4128166139125824,
                        "yaw": 9.198529243469238
                    }
                },
                "velocity": {
                    "x": 7.900644302368164,
                    "y": 1.2776035070419312,
                    "z": 0.057116203010082245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.021425247192383,
                "transform": {
                    "location": {
                        "x": 2887.3740234375,
                        "y": 4248.6650390625,
                        "z": 360.42724609375
                    },
                    "rotation": {
                        "roll": -0.0009155240841209888,
                        "pitch": -0.3652648329734802,
                        "yaw": -170.79629516601562
                    }
                },
                "velocity": {
                    "x": -9.892487525939941,
                    "y": -1.6009243726730347,
                    "z": -0.06841617077589035
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2949.322998046875,
                        "y": 4255.427734375,
                        "z": 360.8668518066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.43032920360565186,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.230183601379395,
                "transform": {
                    "location": {
                        "x": 2866.4306640625,
                        "y": 4245.27685546875,
                        "z": 360.2784423828125
                    },
                    "rotation": {
                        "roll": 2.0777999907295452e-06,
                        "pitch": -0.4424459636211395,
                        "yaw": -170.78575134277344
                    }
                },
                "velocity": {
                    "x": -8.124156951904297,
                    "y": -1.3155033588409424,
                    "z": -0.05873280391097069
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.58154296875,
                        "y": 4253.5791015625,
                        "z": 360.7820739746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.589123725891113,
                "transform": {
                    "location": {
                        "x": 2847.8642578125,
                        "y": 4242.26953125,
                        "z": 360.1392822265625
                    },
                    "rotation": {
                        "roll": -0.0011291467817500234,
                        "pitch": -0.6871306300163269,
                        "yaw": -170.78134155273438
                    }
                },
                "velocity": {
                    "x": -5.5169219970703125,
                    "y": -0.8943812251091003,
                    "z": -0.04426608607172966
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.275855541229248,
                "transform": {
                    "location": {
                        "x": 2850.952392578125,
                        "y": 4239.47998046875,
                        "z": 360.1622619628906
                    },
                    "rotation": {
                        "roll": -0.003173830220475793,
                        "pitch": -0.36766907572746277,
                        "yaw": -170.581787109375
                    }
                },
                "velocity": {
                    "x": -6.194751262664795,
                    "y": -1.0045039653778076,
                    "z": -0.04887613281607628
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.696430683135986,
                "transform": {
                    "location": {
                        "x": 2834.61865234375,
                        "y": 4236.8349609375,
                        "z": 360.0349426269531
                    },
                    "rotation": {
                        "roll": 0.07239561527967453,
                        "pitch": -0.5412856340408325,
                        "yaw": -170.84378051757812
                    }
                },
                "velocity": {
                    "x": -5.623096942901611,
                    "y": -0.9100930690765381,
                    "z": -0.042828381061553955
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.455808162689209,
                "transform": {
                    "location": {
                        "x": 2831.228271484375,
                        "y": 4239.5810546875,
                        "z": 360.004638671875
                    },
                    "rotation": {
                        "roll": 0.09989937394857407,
                        "pitch": -0.3419124186038971,
                        "yaw": -170.79200744628906
                    }
                },
                "velocity": {
                    "x": -7.359229564666748,
                    "y": -1.1951135396957397,
                    "z": -0.050187841057777405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24374882876873016,
        "expert_target_speed": 6.524097864822873,
        "target_point": [
            16.834033239684405,
            0.3058767836704712
        ],
        "target_point_next": [
            16.834033239684405,
            0.3058767836704712
        ]
    },
    "445": {
        "acceleration": [
            -2.092456817626953,
            -0.25920629501342773,
            -0.012591630220413208
        ],
        "angular_velocity": [
            -0.08738090097904205,
            0.8359906077384949,
            -0.4919227361679077
        ],
        "forward_vector": [
            -0.9880699515342712,
            -0.15380997955799103,
            -0.007760804146528244
        ],
        "right_vector": [
            0.1538175642490387,
            -0.9880991578102112,
            -0.0003875585680361837
        ],
        "location": [
            2863.885498046875,
            4241.92529296875,
            360.25299072265625
        ],
        "rotation": [
            0.0222061388194561,
            -0.444665789604187,
            -171.15194702148438
        ],
        "velocity": [
            -6.096200942993164,
            -0.9387735724449158,
            -0.045401591807603836
        ],
        "speed": 6.168059804968798,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.420846939086914,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2849.709716796875,
                4239.27978515625,
                360.1563720703125
            ],
            "velocity": [
                -4.974882125854492,
                -0.809212863445282,
                -0.03742557018995285
            ],
            "speed_kmh": 18.145456476476244,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.059640884399414,
                "transform": {
                    "location": {
                        "x": 2871.589599609375,
                        "y": 4252.89697265625,
                        "z": 360.35845947265625
                    },
                    "rotation": {
                        "roll": -0.00021362557890824974,
                        "pitch": 0.40847259759902954,
                        "yaw": 9.210659980773926
                    }
                },
                "velocity": {
                    "x": 7.955519199371338,
                    "y": 1.2900800704956055,
                    "z": 0.05679357424378395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045921325683594,
                "transform": {
                    "location": {
                        "x": 2875.513916015625,
                        "y": 4250.24169921875,
                        "z": 360.3473205566406
                    },
                    "rotation": {
                        "roll": -0.000885007728356868,
                        "pitch": 0.39860981702804565,
                        "yaw": 9.183924674987793
                    }
                },
                "velocity": {
                    "x": 7.942407131195068,
                    "y": 1.2852355241775513,
                    "z": 0.05650500953197479
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052909851074219,
                "transform": {
                    "location": {
                        "x": 2923.271728515625,
                        "y": 4261.26123046875,
                        "z": 360.6912841796875
                    },
                    "rotation": {
                        "roll": -0.00048827799037098885,
                        "pitch": 0.4162180423736572,
                        "yaw": 9.183832168579102
                    }
                },
                "velocity": {
                    "x": 7.949483871459961,
                    "y": 1.2852360010147095,
                    "z": 0.05688352510333061
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003300666809082,
                "transform": {
                    "location": {
                        "x": 2925.66064453125,
                        "y": 4258.35693359375,
                        "z": 360.6937561035156
                    },
                    "rotation": {
                        "roll": -0.0014038040535524487,
                        "pitch": 0.4153096377849579,
                        "yaw": 9.174376487731934
                    }
                },
                "velocity": {
                    "x": 7.900414943695068,
                    "y": 1.2778948545455933,
                    "z": 0.057042110711336136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.403640747070312,
                "transform": {
                    "location": {
                        "x": 2885.0849609375,
                        "y": 4248.294921875,
                        "z": 360.41143798828125
                    },
                    "rotation": {
                        "roll": 0.002009807853028178,
                        "pitch": -0.6556366682052612,
                        "yaw": -170.82276916503906
                    }
                },
                "velocity": {
                    "x": -8.295724868774414,
                    "y": -1.3412539958953857,
                    "z": -0.05620937794446945
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2946.84521484375,
                        "y": 4255.09228515625,
                        "z": 360.85076904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.43032920360565186,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.6802978515625,
                "transform": {
                    "location": {
                        "x": 2864.30712890625,
                        "y": 4244.9326171875,
                        "z": 360.2630310058594
                    },
                    "rotation": {
                        "roll": -0.0002441411488689482,
                        "pitch": -0.376589298248291,
                        "yaw": -170.8125
                    }
                },
                "velocity": {
                    "x": -8.568328857421875,
                    "y": -1.388268232345581,
                    "z": -0.06340310722589493
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 19.726516723632812,
                "transform": {
                    "location": {
                        "x": 2931.928466796875,
                        "y": 4252.6826171875,
                        "z": 360.7391052246094
                    },
                    "rotation": {
                        "roll": 0.0021451422944664955,
                        "pitch": -0.3320291340351105,
                        "yaw": -170.79942321777344
                    }
                },
                "velocity": {
                    "x": -19.484786987304688,
                    "y": -3.07572078704834,
                    "z": -0.13598935306072235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.093808174133301,
                "transform": {
                    "location": {
                        "x": 2846.57177734375,
                        "y": 4242.060546875,
                        "z": 360.12921142578125
                    },
                    "rotation": {
                        "roll": 0.0018955140840262175,
                        "pitch": -0.5886461734771729,
                        "yaw": -170.82968139648438
                    }
                },
                "velocity": {
                    "x": -5.02846622467041,
                    "y": -0.8123066425323486,
                    "z": -0.039598241448402405
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.040404319763184,
                "transform": {
                    "location": {
                        "x": 2849.709716796875,
                        "y": 4239.27978515625,
                        "z": 360.1563720703125
                    },
                    "rotation": {
                        "roll": -0.009094230830669403,
                        "pitch": -0.8562939167022705,
                        "yaw": -170.48867797851562
                    }
                },
                "velocity": {
                    "x": -4.974882125854492,
                    "y": -0.809212863445282,
                    "z": -0.03742557018995285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.039055347442627,
                "transform": {
                    "location": {
                        "x": 2833.1025390625,
                        "y": 4236.5888671875,
                        "z": 360.0237731933594
                    },
                    "rotation": {
                        "roll": 0.052156902849674225,
                        "pitch": -0.5792751312255859,
                        "yaw": -170.84780883789062
                    }
                },
                "velocity": {
                    "x": -6.948522567749023,
                    "y": -1.1240549087524414,
                    "z": -0.05322238802909851
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4448,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.59657096862793,
                "transform": {
                    "location": {
                        "x": 2829.283935546875,
                        "y": 4239.265625,
                        "z": 359.99212646484375
                    },
                    "rotation": {
                        "roll": 0.20072662830352783,
                        "pitch": -0.3187853991985321,
                        "yaw": -170.7837677001953
                    }
                },
                "velocity": {
                    "x": -8.48484992980957,
                    "y": -1.3807672262191772,
                    "z": -0.042856939136981964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2600983679294586,
        "expert_target_speed": 6.601296565618716,
        "target_point": [
            15.3286335085465,
            0.3411178581178307
        ],
        "target_point_next": [
            15.3286335085465,
            0.3411178581178307
        ]
    },
    "450": {
        "acceleration": [
            -2.733287811279297,
            -0.3652191162109375,
            -0.0040071457624435425
        ],
        "angular_velocity": [
            -0.09866001456975937,
            0.6185463666915894,
            -0.509207546710968
        ],
        "forward_vector": [
            -0.9884275794029236,
            -0.15162940323352814,
            -0.004406437277793884
        ],
        "right_vector": [
            0.15163277089595795,
            -0.988436758518219,
            -0.00043753121281042695
        ],
        "location": [
            2862.28271484375,
            4241.6796875,
            360.2403869628906
        ],
        "rotation": [
            0.02506893500685692,
            -0.25247108936309814,
            -171.27854919433594
        ],
        "velocity": [
            -6.73581600189209,
            -1.0231311321258545,
            -0.04937038943171501
        ],
        "speed": 6.81307672970668,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.148661613464355,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2848.378662109375,
                4239.06201171875,
                360.1418151855469
            ],
            "velocity": [
                -5.770316123962402,
                -0.9408131837844849,
                -0.04433763027191162
            ],
            "speed_kmh": 21.048040740586973,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4613,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.569425106048584,
                "transform": {
                    "location": {
                        "x": 2899.5,
                        "y": 4250.72802734375,
                        "z": 360.70465087890625
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39400628209114075,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.176278591156006,
                    "y": -0.9994077682495117,
                    "z": -2.003026008605957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.989997863769531,
                "transform": {
                    "location": {
                        "x": 2873.568359375,
                        "y": 4253.2177734375,
                        "z": 360.3725280761719
                    },
                    "rotation": {
                        "roll": 0.0004768171929754317,
                        "pitch": 0.39445024728775024,
                        "yaw": 9.207192420959473
                    }
                },
                "velocity": {
                    "x": 7.886888027191162,
                    "y": 1.2782429456710815,
                    "z": 0.05621306225657463
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045758247375488,
                "transform": {
                    "location": {
                        "x": 2877.5,
                        "y": 4250.56298828125,
                        "z": 360.3612365722656
                    },
                    "rotation": {
                        "roll": 0.0012083391193300486,
                        "pitch": 0.39963436126708984,
                        "yaw": 9.206616401672363
                    }
                },
                "velocity": {
                    "x": 7.942313194274902,
                    "y": 1.284822702407837,
                    "z": 0.055829524993896484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082897186279297,
                "transform": {
                    "location": {
                        "x": 2925.262939453125,
                        "y": 4261.58349609375,
                        "z": 360.7059326171875
                    },
                    "rotation": {
                        "roll": 0.0008225562633015215,
                        "pitch": 0.42007026076316833,
                        "yaw": 9.183892250061035
                    }
                },
                "velocity": {
                    "x": 7.979076862335205,
                    "y": 1.2900739908218384,
                    "z": 0.057142581790685654
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002555847167969,
                "transform": {
                    "location": {
                        "x": 2927.635498046875,
                        "y": 4258.67529296875,
                        "z": 360.7082824707031
                    },
                    "rotation": {
                        "roll": -0.00024413902428932488,
                        "pitch": 0.416983038187027,
                        "yaw": 9.192037582397461
                    }
                },
                "velocity": {
                    "x": 7.899722576141357,
                    "y": 1.2775115966796875,
                    "z": 0.05697321891784668
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.093729972839355,
                "transform": {
                    "location": {
                        "x": 2883.087646484375,
                        "y": 4247.9716796875,
                        "z": 360.3977355957031
                    },
                    "rotation": {
                        "roll": 0.000583224231377244,
                        "pitch": -0.5143132209777832,
                        "yaw": -170.80072021484375
                    }
                },
                "velocity": {
                    "x": -7.9895782470703125,
                    "y": -1.2930858135223389,
                    "z": -0.055133651942014694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.1962890625,
                        "y": 4254.34423828125,
                        "z": 360.81597900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.552319526672363,
                "transform": {
                    "location": {
                        "x": 2862.298095703125,
                        "y": 4244.607421875,
                        "z": 360.247802734375
                    },
                    "rotation": {
                        "roll": 0.0005731316050514579,
                        "pitch": -0.5462921857833862,
                        "yaw": -170.7843475341797
                    }
                },
                "velocity": {
                    "x": -7.454862117767334,
                    "y": -1.2080364227294922,
                    "z": -0.05662831664085388
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.378822326660156,
                "transform": {
                    "location": {
                        "x": 2927.55126953125,
                        "y": 4251.978515625,
                        "z": 360.70849609375
                    },
                    "rotation": {
                        "roll": 0.02773669920861721,
                        "pitch": -0.21836113929748535,
                        "yaw": -170.58497619628906
                    }
                },
                "velocity": {
                    "x": -17.144533157348633,
                    "y": -2.8414721488952637,
                    "z": -0.1203538104891777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.495381832122803,
                "transform": {
                    "location": {
                        "x": 2845.27783203125,
                        "y": 4241.8515625,
                        "z": 360.119140625
                    },
                    "rotation": {
                        "roll": -0.00036621291656047106,
                        "pitch": -0.438662052154541,
                        "yaw": -170.85052490234375
                    }
                },
                "velocity": {
                    "x": -5.424770355224609,
                    "y": -0.8771129250526428,
                    "z": -0.041964754462242126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.846677780151367,
                "transform": {
                    "location": {
                        "x": 2848.378662109375,
                        "y": 4239.06201171875,
                        "z": 360.1418151855469
                    },
                    "rotation": {
                        "roll": -0.002960201818495989,
                        "pitch": -0.31140196323394775,
                        "yaw": -170.59788513183594
                    }
                },
                "velocity": {
                    "x": -5.770316123962402,
                    "y": -0.9408131837844849,
                    "z": -0.04433763027191162
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.209692001342773,
                "transform": {
                    "location": {
                        "x": 2831.20068359375,
                        "y": 4236.28125,
                        "z": 360.0072326660156
                    },
                    "rotation": {
                        "roll": 0.20128503441810608,
                        "pitch": -0.5911870002746582,
                        "yaw": -170.81898498535156
                    }
                },
                "velocity": {
                    "x": -8.104207992553711,
                    "y": -1.3106608390808105,
                    "z": -0.05497201904654503
                },
                "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": 0.26955869793891907,
        "expert_target_speed": 7.108553168894485,
        "target_point": [
            13.706350434671434,
            0.3752537297848333
        ],
        "target_point_next": [
            13.706350434671434,
            0.3752537297848333
        ]
    },
    "455": {
        "acceleration": [
            -3.618316650390625,
            -0.45897483825683594,
            -0.026600956916809082
        ],
        "angular_velocity": [
            0.028449350968003273,
            0.40839633345603943,
            -0.5994111895561218
        ],
        "forward_vector": [
            -0.9888017177581787,
            -0.14921878278255463,
            -0.0022025087382644415
        ],
        "right_vector": [
            0.14922024309635162,
            -0.9888038635253906,
            -0.0005141458823345602
        ],
        "location": [
            2860.4912109375,
            4241.40966796875,
            360.2266845703125
        ],
        "rotation": [
            0.029458461329340935,
            -0.126194566488266,
            -171.41831970214844
        ],
        "velocity": [
            -7.564199447631836,
            -1.130454421043396,
            -0.055229682475328445
        ],
        "speed": 7.648205049657752,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.84220027923584,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2846.89453125,
                4238.81591796875,
                360.13037109375
            ],
            "velocity": [
                -5.29592752456665,
                -0.8568793535232544,
                -0.04170934483408928
            ],
            "speed_kmh": 19.313867554909613,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4613,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.92185640335083,
                "transform": {
                    "location": {
                        "x": 2898.00341796875,
                        "y": 4250.47802734375,
                        "z": 360.4286193847656
                    },
                    "rotation": {
                        "roll": -0.006408690940588713,
                        "pitch": -0.3956865072250366,
                        "yaw": -170.50820922851562
                    }
                },
                "velocity": {
                    "x": -5.832149982452393,
                    "y": -1.0165843963623047,
                    "z": 0.1448129117488861
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050885200500488,
                "transform": {
                    "location": {
                        "x": 2875.5478515625,
                        "y": 4253.53857421875,
                        "z": 360.3863525390625
                    },
                    "rotation": {
                        "roll": 0.00012366342707537115,
                        "pitch": 0.3988010585308075,
                        "yaw": 9.202756881713867
                    }
                },
                "velocity": {
                    "x": 7.947059631347656,
                    "y": 1.2875345945358276,
                    "z": 0.05694258585572243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045437812805176,
                "transform": {
                    "location": {
                        "x": 2879.4853515625,
                        "y": 4250.88427734375,
                        "z": 360.375
                    },
                    "rotation": {
                        "roll": -0.0003356944362167269,
                        "pitch": 0.39581626653671265,
                        "yaw": 9.177258491516113
                    }
                },
                "velocity": {
                    "x": 7.941905498504639,
                    "y": 1.2853230237960815,
                    "z": 0.05616294592618942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053366661071777,
                "transform": {
                    "location": {
                        "x": 2927.25390625,
                        "y": 4261.90576171875,
                        "z": 360.7205505371094
                    },
                    "rotation": {
                        "roll": 0.00020278673036955297,
                        "pitch": 0.4219827353954315,
                        "yaw": 9.18384838104248
                    }
                },
                "velocity": {
                    "x": 7.949938774108887,
                    "y": 1.2852773666381836,
                    "z": 0.05705181136727333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2929.6298828125,
                        "y": 4258.9716796875,
                        "z": 360.72479248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4188545048236847,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.964707374572754,
                "transform": {
                    "location": {
                        "x": 2880.97802734375,
                        "y": 4247.63037109375,
                        "z": 360.3832702636719
                    },
                    "rotation": {
                        "roll": 0.0006783176795579493,
                        "pitch": -0.27630162239074707,
                        "yaw": -170.82421875
                    }
                },
                "velocity": {
                    "x": -8.84941577911377,
                    "y": -1.431837558746338,
                    "z": -0.06051524356007576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2938.78271484375,
                        "y": 4253.79150390625,
                        "z": 360.7904968261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.05641508102417,
                "transform": {
                    "location": {
                        "x": 2860.6064453125,
                        "y": 4244.33349609375,
                        "z": 360.235107421875
                    },
                    "rotation": {
                        "roll": -0.00012206737301312387,
                        "pitch": -0.646388590335846,
                        "yaw": -170.7557373046875
                    }
                },
                "velocity": {
                    "x": -5.97844123840332,
                    "y": -0.9676934480667114,
                    "z": -0.04442643001675606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.33876609802246,
                "transform": {
                    "location": {
                        "x": 2923.272216796875,
                        "y": 4251.263671875,
                        "z": 360.67901611328125
                    },
                    "rotation": {
                        "roll": 0.010459096170961857,
                        "pitch": -0.3851611912250519,
                        "yaw": -170.4318084716797
                    }
                },
                "velocity": {
                    "x": -17.09808349609375,
                    "y": -2.8763153553009033,
                    "z": -0.12316545844078064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4777140617370605,
                "transform": {
                    "location": {
                        "x": 2843.67333984375,
                        "y": 4241.5927734375,
                        "z": 360.1067199707031
                    },
                    "rotation": {
                        "roll": 0.0007879935437813401,
                        "pitch": -0.31924301385879517,
                        "yaw": -170.8779296875
                    }
                },
                "velocity": {
                    "x": -6.395007133483887,
                    "y": -1.0306077003479004,
                    "z": -0.050135109573602676
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.364963054656982,
                "transform": {
                    "location": {
                        "x": 2846.89453125,
                        "y": 4238.81591796875,
                        "z": 360.13037109375
                    },
                    "rotation": {
                        "roll": 0.01763206720352173,
                        "pitch": -0.330751895904541,
                        "yaw": -171.25155639648438
                    }
                },
                "velocity": {
                    "x": -5.29592752456665,
                    "y": -0.8568793535232544,
                    "z": -0.04170934483408928
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.195744514465332,
                "transform": {
                    "location": {
                        "x": 2829.044921875,
                        "y": 4235.93310546875,
                        "z": 359.992919921875
                    },
                    "rotation": {
                        "roll": 0.05918589234352112,
                        "pitch": -0.43465954065322876,
                        "yaw": -170.82447814941406
                    }
                },
                "velocity": {
                    "x": -9.077701568603516,
                    "y": -1.4676513671875,
                    "z": -0.05527734011411667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.26905763149261475,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26293274760246277,
        "expert_target_speed": 7.614211624432034,
        "target_point": [
            11.893655639617604,
            0.4090191808514694
        ],
        "target_point_next": [
            11.893655639617604,
            0.4090191808514694
        ]
    },
    "460": {
        "acceleration": [
            -3.1148719787597656,
            -0.6066226959228516,
            -0.0321362167596817
        ],
        "angular_velocity": [
            -0.16686128079891205,
            0.04863228648900986,
            -0.16152323782444
        ],
        "forward_vector": [
            -0.9891605377197266,
            -0.14683207869529724,
            -0.0013529056450352073
        ],
        "right_vector": [
            0.14683280885219574,
            -0.9891611933708191,
            -0.0004609879688359797
        ],
        "location": [
            2858.49169921875,
            4241.11279296875,
            360.21142578125
        ],
        "rotation": [
            0.026412690058350563,
            -0.07751581072807312,
            -171.55661010742188
        ],
        "velocity": [
            -8.396801948547363,
            -1.2450231313705444,
            -0.06365799158811569
        ],
        "speed": 8.48860209697548,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.219536781311035,
        "front_vehicle_info": {
            "id": 4450,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2845.514892578125,
                4238.5927734375,
                360.1211242675781
            ],
            "velocity": [
                -5.719568729400635,
                -0.9051439762115479,
                -0.0449204258620739
            ],
            "speed_kmh": 20.84731680740219,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4613,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.180385112762451,
                "transform": {
                    "location": {
                        "x": 2896.5087890625,
                        "y": 4250.21875,
                        "z": 360.4734191894531
                    },
                    "rotation": {
                        "roll": -0.005615236237645149,
                        "pitch": -0.3906799554824829,
                        "yaw": -170.15695190429688
                    }
                },
                "velocity": {
                    "x": -6.085605144500732,
                    "y": -1.0750164985656738,
                    "z": 0.08312118053436279
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4611,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007777214050293,
                "transform": {
                    "location": {
                        "x": 2877.530029296875,
                        "y": 4253.859375,
                        "z": 360.4002380371094
                    },
                    "rotation": {
                        "roll": 0.000730047351680696,
                        "pitch": 0.397066205739975,
                        "yaw": 9.202618598937988
                    }
                },
                "velocity": {
                    "x": 7.904520511627197,
                    "y": 1.2806158065795898,
                    "z": 0.055420272052288055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04600715637207,
                "transform": {
                    "location": {
                        "x": 2881.470947265625,
                        "y": 4251.205078125,
                        "z": 360.3887939453125
                    },
                    "rotation": {
                        "roll": 0.0006339650135487318,
                        "pitch": 0.3918684124946594,
                        "yaw": 9.202960968017578
                    }
                },
                "velocity": {
                    "x": 7.942529201507568,
                    "y": 1.285011887550354,
                    "z": 0.056697674095630646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2929.30615234375,
                        "y": 4262.1748046875,
                        "z": 360.7331237792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4188545048236847,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2931.693115234375,
                        "y": 4259.2490234375,
                        "z": 360.7440185546875
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.248432159423828,
                "transform": {
                    "location": {
                        "x": 2878.647216796875,
                        "y": 4247.25341796875,
                        "z": 360.36712646484375
                    },
                    "rotation": {
                        "roll": 0.0026885359548032284,
                        "pitch": -0.14630264043807983,
                        "yaw": -170.83631896972656
                    }
                },
                "velocity": {
                    "x": -10.117006301879883,
                    "y": -1.6345263719558716,
                    "z": -0.06984397768974304
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2934.134521484375,
                        "y": 4253.0400390625,
                        "z": 360.755859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4188545048236847,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.733132362365723,
                "transform": {
                    "location": {
                        "x": 2859.178466796875,
                        "y": 4244.1015625,
                        "z": 360.2244873046875
                    },
                    "rotation": {
                        "roll": 0.0002674125717021525,
                        "pitch": -0.5273725390434265,
                        "yaw": -170.7965545654297
                    }
                },
                "velocity": {
                    "x": -5.659200191497803,
                    "y": -0.9167304039001465,
                    "z": -0.04321684688329697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4590,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.299049377441406,
                "transform": {
                    "location": {
                        "x": 2919.002685546875,
                        "y": 4250.544921875,
                        "z": 360.6483154296875
                    },
                    "rotation": {
                        "roll": -0.0013427757658064365,
                        "pitch": -0.40390321612358093,
                        "yaw": -170.45086669921875
                    }
                },
                "velocity": {
                    "x": -17.060014724731445,
                    "y": -2.863194227218628,
                    "z": -0.123175248503685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4589,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.134431838989258,
                "transform": {
                    "location": {
                        "x": 2842.51611328125,
                        "y": 4241.40625,
                        "z": 360.0972595214844
                    },
                    "rotation": {
                        "roll": -0.00030518299899995327,
                        "pitch": -0.9908076524734497,
                        "yaw": -170.8428497314453
                    }
                },
                "velocity": {
                    "x": -3.0941643714904785,
                    "y": -0.5002010464668274,
                    "z": -0.024669531732797623
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.790921211242676,
                "transform": {
                    "location": {
                        "x": 2845.514892578125,
                        "y": 4238.5927734375,
                        "z": 360.1211242675781
                    },
                    "rotation": {
                        "roll": 0.02519865147769451,
                        "pitch": -0.5169974565505981,
                        "yaw": -171.64816284179688
                    }
                },
                "velocity": {
                    "x": -5.719568729400635,
                    "y": -0.9051439762115479,
                    "z": -0.0449204258620739
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.045742988586426,
                "transform": {
                    "location": {
                        "x": 2826.667236328125,
                        "y": 4235.548828125,
                        "z": 359.9756164550781
                    },
                    "rotation": {
                        "roll": 0.09226704388856888,
                        "pitch": -0.4951408803462982,
                        "yaw": -170.82432556152344
                    }
                },
                "velocity": {
                    "x": -9.916791915893555,
                    "y": -1.602709174156189,
                    "z": -0.07424667477607727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2703135311603546,
        "expert_target_speed": 8.065218341882936,
        "target_point": [
            9.871203072837066,
            0.4376609373294049
        ],
        "target_point_next": [
            9.871203072837066,
            0.4376609373294049
        ]
    }
}