{
    "0": {
        "acceleration": [
            -0.003567347303032875,
            0.0002628146903589368,
            -0.36349207162857056
        ],
        "angular_velocity": [
            -0.0047339582815766335,
            0.0340442955493927,
            -3.2399766496382654e-05
        ],
        "forward_vector": [
            0.9999721050262451,
            -0.00078454555477947,
            -0.007430246099829674
        ],
        "right_vector": [
            0.0007852597627788782,
            0.9999997019767761,
            9.320805838797241e-05
        ],
        "location": [
            2360.921875,
            2298.13037109375,
            364.03021240234375
        ],
        "rotation": [
            -0.005340576171875,
            -0.42572566866874695,
            -0.044952392578125
        ],
        "velocity": [
            0.0018880851566791534,
            4.102228922420181e-05,
            0.23456071317195892
        ],
        "speed": 0.0018885307482499028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007435353472828865,
        "expert_target_speed": 1.4340423256681847,
        "target_point": [
            12.498050690228036,
            4.024249921860852e-05
        ],
        "target_point_next": [
            24.432708335730716,
            13.584847710872241
        ]
    },
    "5": {
        "acceleration": [
            -0.0043153949081897736,
            0.002301315311342478,
            -0.47057151794433594
        ],
        "angular_velocity": [
            -0.02754177525639534,
            0.014329349622130394,
            0.0001393525453750044
        ],
        "forward_vector": [
            0.9999710917472839,
            -0.0007845447980798781,
            -0.00756220705807209
        ],
        "right_vector": [
            0.0007848975365050137,
            0.9999997019767761,
            4.367459041532129e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.0695495605469
        ],
        "rotation": [
            -0.0025024411734193563,
            -0.4332866966724396,
            -0.0449523963034153
        ],
        "velocity": [
            0.0007483101217076182,
            0.0001738996506901458,
            0.09140674024820328
        ],
        "speed": 0.0007682506926519658,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.33612823486328,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.29931640625,
                2351.88330078125,
                365.3078308105469
            ],
            "velocity": [
                0.000502134847920388,
                0.049111731350421906,
                -2.0726282596588135
            ],
            "speed_kmh": 7.463556358515306,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0732100009918213,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.88330078125,
                        "z": 365.3078308105469
                    },
                    "rotation": {
                        "roll": 0.0005333437002263963,
                        "pitch": -1.4126265048980713,
                        "yaw": -90.2624740600586
                    }
                },
                "velocity": {
                    "x": 0.000502134847920388,
                    "y": 0.049111731350421906,
                    "z": -2.0726282596588135
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2439.62060546875,
                        "y": 2295.69189453125,
                        "z": 363.3948669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.183349609375,
                        "z": 362.7814025878906
                    },
                    "rotation": {
                        "roll": 1.0674393990939279e-07,
                        "pitch": 1.1696629524230957,
                        "yaw": 90.0888442993164
                    }
                },
                "velocity": {
                    "x": -8.85084436297312e-11,
                    "y": 5.707858008463518e-08,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.503263533115387,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.897705078125,
                        "z": 364.9645080566406
                    },
                    "rotation": {
                        "roll": -0.0010071098804473877,
                        "pitch": 1.3923954963684082,
                        "yaw": 89.73757934570312
                    }
                },
                "velocity": {
                    "x": 0.00022307717881631106,
                    "y": 0.012164811603724957,
                    "z": -0.5031164288520813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4119488000869751,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.89697265625,
                        "z": 365.33416748046875
                    },
                    "rotation": {
                        "roll": 0.0007178718806244433,
                        "pitch": 1.4245246648788452,
                        "yaw": 89.73750305175781
                    }
                },
                "velocity": {
                    "x": -4.8757319746073335e-06,
                    "y": 0.010157141834497452,
                    "z": -0.411823570728302
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.454407662153244,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.1712341308594
                    },
                    "rotation": {
                        "roll": 0.0009824103908613324,
                        "pitch": 0.15099498629570007,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": 0.001204608241096139,
                    "y": -3.684762486955151e-05,
                    "z": -0.45440608263015747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3693615794181824,
                "transform": {
                    "location": {
                        "x": 2345.92236328125,
                        "y": 2298.14208984375,
                        "z": 364.1859436035156
                    },
                    "rotation": {
                        "roll": 0.0013784258626401424,
                        "pitch": -0.21548563241958618,
                        "yaw": -0.0450439453125
                    }
                },
                "velocity": {
                    "x": -0.0006007249467074871,
                    "y": -0.00013073217996861786,
                    "z": -0.3693610727787018
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0004261031572241336,
        "expert_target_speed": 1.290899598036277,
        "target_point": [
            12.49829483077789,
            4.0434049939296404e-05
        ],
        "target_point_next": [
            24.432952476280573,
            13.584847902422961
        ]
    },
    "10": {
        "acceleration": [
            0.00040241022361442447,
            -0.0056737796403467655,
            -0.1669652760028839
        ],
        "angular_velocity": [
            0.008296678774058819,
            0.013967767357826233,
            -0.00012540948227979243
        ],
        "forward_vector": [
            0.9999707341194153,
            -0.0007850769907236099,
            -0.0076138232834637165
        ],
        "right_vector": [
            0.0007852457347325981,
            0.9999997019767761,
            1.9174205590388738e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.0823059082031
        ],
        "rotation": [
            -0.0010986328125,
            -0.4362441599369049,
            -0.0449829064309597
        ],
        "velocity": [
            0.0002490334154572338,
            -5.170362055650912e-05,
            0.02511901780962944
        ],
        "speed": 0.0002543440708822336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.33600997924805,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.29931640625,
                2351.88525390625,
                365.2264709472656
            ],
            "velocity": [
                6.329081224976107e-05,
                -0.003475744277238846,
                0.1396171897649765
            ],
            "speed_kmh": 0.50277766108403,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13966046273708344,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.88525390625,
                        "z": 365.2264709472656
                    },
                    "rotation": {
                        "roll": -0.0007323887548409402,
                        "pitch": -1.4188214540481567,
                        "yaw": -90.26258087158203
                    }
                },
                "velocity": {
                    "x": 6.329081224976107e-05,
                    "y": -0.003475744277238846,
                    "z": 0.1396171897649765
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2437.5380859375,
                        "y": 2295.64892578125,
                        "z": 363.35546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23423315584659576,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.185546875,
                        "z": 362.6369323730469
                    },
                    "rotation": {
                        "roll": -0.0015563301276415586,
                        "pitch": 1.1758716106414795,
                        "yaw": 90.08894348144531
                    }
                },
                "velocity": {
                    "x": -9.443124872632325e-05,
                    "y": -0.0047907112166285515,
                    "z": 0.2341841459274292
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10245311260223389,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.898193359375,
                        "z": 364.95611572265625
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": 1.3922998905181885,
                        "yaw": 89.73763275146484
                    }
                },
                "velocity": {
                    "x": -9.52296395553276e-05,
                    "y": -0.0025349135976284742,
                    "z": 0.10242170095443726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05112948268651962,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3254699707031
                    },
                    "rotation": {
                        "roll": 0.0011967741884291172,
                        "pitch": 1.4258838891983032,
                        "yaw": 89.7375717163086
                    }
                },
                "velocity": {
                    "x": -6.289493740041507e-06,
                    "y": -0.0013180376263335347,
                    "z": 0.05111249163746834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09457390755414963,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.16412353515625
                    },
                    "rotation": {
                        "roll": 0.0010400068713352084,
                        "pitch": 0.150673970580101,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": -0.0002475529909133911,
                    "y": 4.425149381859228e-05,
                    "z": 0.09457357227802277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04571601375937462,
                "transform": {
                    "location": {
                        "x": 2345.92236328125,
                        "y": 2298.14208984375,
                        "z": 364.17822265625
                    },
                    "rotation": {
                        "roll": 0.0007828910602256656,
                        "pitch": -0.21069766581058502,
                        "yaw": -0.0450439490377903
                    }
                },
                "velocity": {
                    "x": 3.4237411455251276e-05,
                    "y": -2.2899219402461313e-05,
                    "z": 0.045715995132923126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0004882660578005016,
        "expert_target_speed": 1.22461626506592,
        "target_point": [
            12.498294830757189,
            4.639370132878372e-05
        ],
        "target_point_next": [
            24.432945998517525,
            13.58485955296104
        ]
    },
    "15": {
        "acceleration": [
            4.841723442077637,
            -0.014187043532729149,
            -0.09169311076402664
        ],
        "angular_velocity": [
            -0.03910651057958603,
            -1.3193553686141968,
            0.19536525011062622
        ],
        "forward_vector": [
            0.9999973773956299,
            -0.00034887317451648414,
            -0.002261040499433875
        ],
        "right_vector": [
            0.00034887174842879176,
            0.9999999403953552,
            -1.0273508905811468e-06
        ],
        "location": [
            2361.0634765625,
            2298.1298828125,
            364.0833435058594
        ],
        "rotation": [
            5.886301732971333e-05,
            -0.12954819202423096,
            -0.01998901180922985
        ],
        "velocity": [
            1.230445384979248,
            -0.0012724159751087427,
            -0.0035126591101288795
        ],
        "speed": 1.230446042888165,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.21306610107422,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.300048828125,
                2351.818115234375,
                365.2478942871094
            ],
            "velocity": [
                0.013601008802652359,
                -0.9441126585006714,
                0.023902997374534607
            ],
            "speed_kmh": 3.400247267852772,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9445131421089172,
                "transform": {
                    "location": {
                        "x": 2388.300048828125,
                        "y": 2351.818115234375,
                        "z": 365.2478942871094
                    },
                    "rotation": {
                        "roll": -0.0054320781491696835,
                        "pitch": -1.3426238298416138,
                        "yaw": -90.22589111328125
                    }
                },
                "velocity": {
                    "x": 0.013601008802652359,
                    "y": -0.9441126585006714,
                    "z": 0.023902997374534607
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2435.455322265625,
                        "y": 2295.605712890625,
                        "z": 363.34197998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0958075299859047,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.1845703125,
                        "z": 362.6853942871094
                    },
                    "rotation": {
                        "roll": -0.0007934293244034052,
                        "pitch": 1.1751681566238403,
                        "yaw": 90.08897399902344
                    }
                },
                "velocity": {
                    "x": -6.243743700906634e-05,
                    "y": -0.0019782257732003927,
                    "z": 0.09578708559274673
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023457128554582596,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.898193359375,
                        "z": 364.9714050292969
                    },
                    "rotation": {
                        "roll": -0.0010681195417419076,
                        "pitch": 1.3928121328353882,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -9.326603321824223e-05,
                    "y": -0.0006194639136083424,
                    "z": 0.02344876155257225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.012972211465239525,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.33306884765625
                    },
                    "rotation": {
                        "roll": 0.0009304744307883084,
                        "pitch": 1.425795078277588,
                        "yaw": 89.73763275146484
                    }
                },
                "velocity": {
                    "x": -9.041917655849829e-05,
                    "y": -0.00037105486262589693,
                    "z": 0.012966588139533997
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020672067999839783,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.1780700683594
                    },
                    "rotation": {
                        "roll": 0.000995017820969224,
                        "pitch": 0.1510223001241684,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": -5.721319394069724e-05,
                    "y": -1.7444801414967515e-05,
                    "z": 0.02067198045551777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1105914115905762,
                "transform": {
                    "location": {
                        "x": 2346.007080078125,
                        "y": 2298.142822265625,
                        "z": 364.1850280761719
                    },
                    "rotation": {
                        "roll": -0.0032958979718387127,
                        "pitch": -0.07238633930683136,
                        "yaw": -0.037933349609375
                    }
                },
                "velocity": {
                    "x": 1.110519528388977,
                    "y": 0.008338795974850655,
                    "z": 0.009498796425759792
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00010028431279351935,
        "expert_target_speed": 2.4296748643362025,
        "target_point": [
            12.356447797192663,
            -0.004966403412909879
        ],
        "target_point_next": [
            24.297023345479246,
            13.574639726507783
        ]
    },
    "20": {
        "acceleration": [
            5.465269088745117,
            -0.0033650267869234085,
            -0.04447994753718376
        ],
        "angular_velocity": [
            -0.010750308632850647,
            -0.5874818563461304,
            -0.1400073766708374
        ],
        "forward_vector": [
            0.999999463558197,
            -0.0008143943850882351,
            0.0006394385127350688
        ],
        "right_vector": [
            0.0008144215098582208,
            0.9999996423721313,
            -4.2191590182483196e-05
        ],
        "location": [
            2361.52099609375,
            2298.130126953125,
            364.080078125
        ],
        "rotation": [
            0.0024174004793167114,
            0.03663713112473488,
            -0.046661376953125
        ],
        "velocity": [
            2.4437475204467773,
            -0.0036539535503834486,
            -0.01695198006927967
        ],
        "speed": 2.4437502521874697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.67668914794922,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.30224609375,
                2351.447265625,
                365.2438659667969
            ],
            "velocity": [
                0.009281695820391178,
                -1.9418511390686035,
                -0.04086117818951607
            ],
            "speed_kmh": 6.992291437828398,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.94230318069458,
                "transform": {
                    "location": {
                        "x": 2388.30224609375,
                        "y": 2351.447265625,
                        "z": 365.2438659667969
                    },
                    "rotation": {
                        "roll": -0.004913254640996456,
                        "pitch": -1.3086572885513306,
                        "yaw": -90.08428955078125
                    }
                },
                "velocity": {
                    "x": 0.009281695820391178,
                    "y": -1.9418511390686035,
                    "z": -0.04086117818951607
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2433.37255859375,
                        "y": 2295.562744140625,
                        "z": 363.3658447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.066894292831421,
                "transform": {
                    "location": {
                        "x": 2385.3427734375,
                        "y": 2241.301513671875,
                        "z": 362.6955871582031
                    },
                    "rotation": {
                        "roll": -0.000701957440469414,
                        "pitch": 1.2061840295791626,
                        "yaw": 90.12173461914062
                    }
                },
                "velocity": {
                    "x": -0.015841305255889893,
                    "y": 1.066521167755127,
                    "z": 0.023347215726971626
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9145981073379517,
                "transform": {
                    "location": {
                        "x": 2385.503173828125,
                        "y": 2342.101318359375,
                        "z": 364.9775695800781
                    },
                    "rotation": {
                        "roll": -0.00021361670223996043,
                        "pitch": 1.430548906326294,
                        "yaw": 89.78533172607422
                    }
                },
                "velocity": {
                    "x": -0.008204053156077862,
                    "y": 1.9140334129333496,
                    "z": 0.04576979577541351
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011612845119088888,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3346252441406
                    },
                    "rotation": {
                        "roll": 0.0013234919169917703,
                        "pitch": 1.4255969524383545,
                        "yaw": 89.73768615722656
                    }
                },
                "velocity": {
                    "x": -0.000199817557586357,
                    "y": -6.314307393040508e-05,
                    "z": 0.0011422204552218318
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1471738815307617,
                "transform": {
                    "location": {
                        "x": 2331.151123046875,
                        "y": 2298.15625,
                        "z": 364.1815490722656
                    },
                    "rotation": {
                        "roll": 0.005667056888341904,
                        "pitch": -0.03561943396925926,
                        "yaw": 0.0016243517166003585
                    }
                },
                "velocity": {
                    "x": 2.146989107131958,
                    "y": 0.02750614657998085,
                    "z": 0.006049680523574352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1943061351776123,
                "transform": {
                    "location": {
                        "x": 2346.427978515625,
                        "y": 2298.146240234375,
                        "z": 364.1850280761719
                    },
                    "rotation": {
                        "roll": -0.006500243674963713,
                        "pitch": -0.042415473610162735,
                        "yaw": 0.09467272460460663
                    }
                },
                "velocity": {
                    "x": 2.1942105293273926,
                    "y": 0.01935899257659912,
                    "z": -0.006700248457491398
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.000875489495228976,
        "expert_target_speed": 3.641898426758711,
        "target_point": [
            11.898929589581668,
            0.0001689333162265775
        ],
        "target_point_next": [
            23.833182370972608,
            13.585332076171069
        ]
    },
    "25": {
        "acceleration": [
            6.6318464279174805,
            -0.018034055829048157,
            -0.05055960267782211
        ],
        "angular_velocity": [
            -0.009726078249514103,
            -0.5058059096336365,
            -0.11360012739896774
        ],
        "forward_vector": [
            0.9999909400939941,
            -0.0011850964510813355,
            0.004091370385140181
        ],
        "right_vector": [
            0.0011853617615997791,
            0.9999992847442627,
            -6.242538074729964e-05
        ],
        "location": [
            2362.36083984375,
            2298.12841796875,
            364.07318115234375
        ],
        "rotation": [
            0.003576741088181734,
            0.23441891372203827,
            -0.0679016038775444
        ],
        "velocity": [
            4.192225456237793,
            -0.007849554531276226,
            -0.03095734491944313
        ],
        "speed": 4.192232805013876,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.73861312866211,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.304443359375,
                2350.814453125,
                365.22894287109375
            ],
            "velocity": [
                0.01596316695213318,
                -3.1620097160339355,
                -0.07644350826740265
            ],
            "speed_kmh": 11.386706031388139,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1629738807678223,
                "transform": {
                    "location": {
                        "x": 2388.304443359375,
                        "y": 2350.814453125,
                        "z": 365.22894287109375
                    },
                    "rotation": {
                        "roll": -0.009216268546879292,
                        "pitch": -1.2922375202178955,
                        "yaw": -89.97909545898438
                    }
                },
                "velocity": {
                    "x": 0.01596316695213318,
                    "y": -3.1620097160339355,
                    "z": -0.07644350826740265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012185096740723,
                "transform": {
                    "location": {
                        "x": 2431.30224609375,
                        "y": 2295.517822265625,
                        "z": 363.38970947265625
                    },
                    "rotation": {
                        "roll": -0.0415038987994194,
                        "pitch": 0.6664556860923767,
                        "yaw": -178.74282836914062
                    }
                },
                "velocity": {
                    "x": -8.008455276489258,
                    "y": -0.22847186028957367,
                    "z": 0.08688930422067642
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7421954870224,
                "transform": {
                    "location": {
                        "x": 2385.338623046875,
                        "y": 2241.662841796875,
                        "z": 362.70233154296875
                    },
                    "rotation": {
                        "roll": 0.0019787903875112534,
                        "pitch": 1.2039847373962402,
                        "yaw": 90.27107238769531
                    }
                },
                "velocity": {
                    "x": -0.026510728523135185,
                    "y": 1.7416956424713135,
                    "z": 0.032225072383880615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.897294044494629,
                "transform": {
                    "location": {
                        "x": 2385.50146484375,
                        "y": 2342.72119140625,
                        "z": 364.9924011230469
                    },
                    "rotation": {
                        "roll": 0.004707981366664171,
                        "pitch": 1.4210617542266846,
                        "yaw": 89.93672180175781
                    }
                },
                "velocity": {
                    "x": -0.015347260981798172,
                    "y": 2.896430015563965,
                    "z": 0.06906597316265106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010949458228424191,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348083496094
                    },
                    "rotation": {
                        "roll": 8.90334413270466e-05,
                        "pitch": 1.4253921508789062,
                        "yaw": 89.7377700805664
                    }
                },
                "velocity": {
                    "x": -1.0782745448523201e-05,
                    "y": -7.0496644184459e-05,
                    "z": 0.0010926208924502134
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.354918956756592,
                "transform": {
                    "location": {
                        "x": 2331.85546875,
                        "y": 2298.163818359375,
                        "z": 364.18292236328125
                    },
                    "rotation": {
                        "roll": 0.0038462933152914047,
                        "pitch": 0.006242792587727308,
                        "yaw": 0.21537816524505615
                    }
                },
                "velocity": {
                    "x": 3.3546276092529297,
                    "y": 0.043699152767658234,
                    "z": 0.006727151572704315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.757253408432007,
                "transform": {
                    "location": {
                        "x": 2347.169189453125,
                        "y": 2298.15380859375,
                        "z": 364.1824951171875
                    },
                    "rotation": {
                        "roll": -0.007171631325036287,
                        "pitch": 0.016522226855158806,
                        "yaw": 0.311174213886261
                    }
                },
                "velocity": {
                    "x": 3.7570338249206543,
                    "y": 0.038136132061481476,
                    "z": -0.01402937900274992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0014544435543939471,
        "expert_target_speed": 5.384582028713881,
        "target_point": [
            11.05908352362668,
            0.0052940081027359085
        ],
        "target_point_next": [
            22.988298909477393,
            13.59488073272765
        ]
    },
    "30": {
        "acceleration": [
            0.5161666870117188,
            -0.004583727568387985,
            -0.021525397896766663
        ],
        "angular_velocity": [
            -0.06968238949775696,
            1.5285650491714478,
            -0.612515926361084
        ],
        "forward_vector": [
            0.9999910593032837,
            -0.0018562090117484331,
            0.00379275344312191
        ],
        "right_vector": [
            0.0018565249629318714,
            0.9999982714653015,
            -7.978019129950553e-05
        ],
        "location": [
            2363.6025390625,
            2298.1259765625,
            364.0642395019531
        ],
        "rotation": [
            0.004571101162582636,
            0.21730928122997284,
            -0.1063537672162056
        ],
        "velocity": [
            5.433226585388184,
            -0.012533169239759445,
            -0.039742592722177505
        ],
        "speed": 5.433241040898161,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.32530975341797,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.30859375,
                2349.841552734375,
                365.2049865722656
            ],
            "velocity": [
                0.02380465529859066,
                -4.544743537902832,
                -0.110542431473732
            ],
            "speed_kmh": 16.366140116239723,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.546150207519531,
                "transform": {
                    "location": {
                        "x": 2388.30859375,
                        "y": 2349.841552734375,
                        "z": 365.2049865722656
                    },
                    "rotation": {
                        "roll": -0.012390222400426865,
                        "pitch": -1.2679699659347534,
                        "yaw": -89.8642578125
                    }
                },
                "velocity": {
                    "x": 0.02380465529859066,
                    "y": -4.544743537902832,
                    "z": -0.110542431473732
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.15903377532959,
                "transform": {
                    "location": {
                        "x": 2429.28125,
                        "y": 2295.458984375,
                        "z": 363.411865234375
                    },
                    "rotation": {
                        "roll": -0.034271240234375,
                        "pitch": 0.680949330329895,
                        "yaw": -178.3311004638672
                    }
                },
                "velocity": {
                    "x": -8.15481948852539,
                    "y": -0.24464091658592224,
                    "z": 0.094304159283638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.185612201690674,
                "transform": {
                    "location": {
                        "x": 2385.33251953125,
                        "y": 2242.151611328125,
                        "z": 362.71209716796875
                    },
                    "rotation": {
                        "roll": 0.005520740523934364,
                        "pitch": 1.1951532363891602,
                        "yaw": 90.41189575195312
                    }
                },
                "velocity": {
                    "x": -0.03430504351854324,
                    "y": 2.1848866939544678,
                    "z": 0.044655025005340576
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6318278312683105,
                "transform": {
                    "location": {
                        "x": 2385.498046875,
                        "y": 2343.5419921875,
                        "z": 365.0123291015625
                    },
                    "rotation": {
                        "roll": 0.007342764176428318,
                        "pitch": 1.4126743078231812,
                        "yaw": 90.0759048461914
                    }
                },
                "velocity": {
                    "x": -0.020473191514611244,
                    "y": 3.6306865215301514,
                    "z": 0.08870656788349152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0019490064587444067,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348388671875
                    },
                    "rotation": {
                        "roll": -3.058522997889668e-05,
                        "pitch": 1.4254399538040161,
                        "yaw": 89.73778533935547
                    }
                },
                "velocity": {
                    "x": 2.5832918254309334e-05,
                    "y": -9.709834557725117e-05,
                    "z": 0.0019464148208498955
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.481562614440918,
                "transform": {
                    "location": {
                        "x": 2332.840576171875,
                        "y": 2298.175048828125,
                        "z": 364.1851806640625
                    },
                    "rotation": {
                        "roll": 0.003677195869386196,
                        "pitch": 0.03413728252053261,
                        "yaw": 0.41997990012168884
                    }
                },
                "velocity": {
                    "x": 4.4811625480651855,
                    "y": 0.058755405247211456,
                    "z": 0.011501778848469257
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.194234848022461,
                "transform": {
                    "location": {
                        "x": 2348.29931640625,
                        "y": 2298.166259765625,
                        "z": 364.1773376464844
                    },
                    "rotation": {
                        "roll": -0.008026122115552425,
                        "pitch": -0.035981435328722,
                        "yaw": 0.525361180305481
                    }
                },
                "velocity": {
                    "x": 5.193840026855469,
                    "y": 0.0607120506465435,
                    "z": -0.020400142297148705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002468789927661419,
        "expert_target_speed": 6.6154974088102545,
        "target_point": [
            9.817375869993853,
            0.012851578926694175
        ],
        "target_point_next": [
            21.737469562759944,
            13.610440093946448
        ]
    },
    "35": {
        "acceleration": [
            7.389545440673828,
            -0.038619264960289,
            -0.06266847252845764
        ],
        "angular_velocity": [
            0.013078504242002964,
            -0.8059529662132263,
            -0.20062285661697388
        ],
        "forward_vector": [
            0.9999959468841553,
            -0.002649308182299137,
            -0.0010141131933778524
        ],
        "right_vector": [
            0.0026492057368159294,
            0.9999964833259583,
            -0.00010240105621051043
        ],
        "location": [
            2364.98828125,
            2298.1220703125,
            364.0548095703125
        ],
        "rotation": [
            0.005867151543498039,
            -0.058104414492845535,
            -0.15179443359375
        ],
        "velocity": [
            6.0142130851745605,
            -0.019059060141444206,
            -0.04538130760192871
        ],
        "speed": 6.014243284209443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.586063385009766,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.314208984375,
                2348.564697265625,
                365.17431640625
            ],
            "velocity": [
                0.02865477278828621,
                -5.341852188110352,
                -0.13120950758457184
            ],
            "speed_kmh": 19.23674470702684,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.343540191650391,
                "transform": {
                    "location": {
                        "x": 2388.314208984375,
                        "y": 2348.564697265625,
                        "z": 365.17431640625
                    },
                    "rotation": {
                        "roll": -0.013030965812504292,
                        "pitch": -1.307680606842041,
                        "yaw": -89.77507019042969
                    }
                },
                "velocity": {
                    "x": 0.02865477278828621,
                    "y": -5.341852188110352,
                    "z": -0.13120950758457184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.91961145401001,
                "transform": {
                    "location": {
                        "x": 2427.2734375,
                        "y": 2295.398193359375,
                        "z": 363.4355773925781
                    },
                    "rotation": {
                        "roll": -0.01220702938735485,
                        "pitch": 0.6906618475914001,
                        "yaw": -178.26451110839844
                    }
                },
                "velocity": {
                    "x": -7.915358543395996,
                    "y": -0.24136914312839508,
                    "z": 0.09532962739467621
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.715235471725464,
                "transform": {
                    "location": {
                        "x": 2385.323974609375,
                        "y": 2242.766845703125,
                        "z": 362.72479248046875
                    },
                    "rotation": {
                        "roll": 0.00949133187532425,
                        "pitch": 1.1950849294662476,
                        "yaw": 90.56448364257812
                    }
                },
                "velocity": {
                    "x": -0.04442775249481201,
                    "y": 2.7143120765686035,
                    "z": 0.05513575300574303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.32762336730957,
                "transform": {
                    "location": {
                        "x": 2385.4931640625,
                        "y": 2344.540283203125,
                        "z": 365.0367126464844
                    },
                    "rotation": {
                        "roll": 0.008932928554713726,
                        "pitch": 1.4147096872329712,
                        "yaw": 90.19424438476562
                    }
                },
                "velocity": {
                    "x": -0.02584391087293625,
                    "y": 4.326255798339844,
                    "z": 0.10566898435354233
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012039358261972666,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -3.306131839053705e-05,
                    "y": -8.162915764842182e-05,
                    "z": 0.0012007103068754077
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.299103736877441,
                "transform": {
                    "location": {
                        "x": 2334.089111328125,
                        "y": 2298.1875,
                        "z": 364.1885986328125
                    },
                    "rotation": {
                        "roll": -0.006988524459302425,
                        "pitch": 0.0628582239151001,
                        "yaw": 0.4810972213745117
                    }
                },
                "velocity": {
                    "x": 5.298996448516846,
                    "y": 0.03031846694648266,
                    "z": 0.014801968820393085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.822786331176758,
                "transform": {
                    "location": {
                        "x": 2349.6884765625,
                        "y": 2298.178466796875,
                        "z": 364.17041015625
                    },
                    "rotation": {
                        "roll": 0.003353208303451538,
                        "pitch": -0.19885411858558655,
                        "yaw": 0.45563438534736633
                    }
                },
                "velocity": {
                    "x": 5.822563171386719,
                    "y": 0.04168197885155678,
                    "z": -0.02935609221458435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.010482478886842728,
        "expert_target_speed": 7.18916114324485,
        "target_point": [
            8.431614916624834,
            0.020872773347474782
        ],
        "target_point_next": [
            20.34092062227381,
            13.627910830085458
        ]
    },
    "40": {
        "acceleration": [
            2.210664749145508,
            -0.030778013169765472,
            -0.022243186831474304
        ],
        "angular_velocity": [
            0.01245580893009901,
            0.570840060710907,
            -0.19001580774784088
        ],
        "forward_vector": [
            0.9999940395355225,
            -0.0033885985612869263,
            -0.0006811617640778422
        ],
        "right_vector": [
            0.003388508688658476,
            0.9999942779541016,
            -0.00013299308193381876
        ],
        "location": [
            2366.619384765625,
            2298.116455078125,
            364.04241943359375
        ],
        "rotation": [
            0.007619944401085377,
            -0.03902769833803177,
            -0.1941528171300888
        ],
        "velocity": [
            6.845425128936768,
            -0.026741644367575645,
            -0.05124375596642494
        ],
        "speed": 6.84547736183697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.6642951965332,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.32177734375,
                2347.184326171875,
                365.1408996582031
            ],
            "velocity": [
                0.030574223026633263,
                -5.534660339355469,
                -0.1357370913028717
            ],
            "speed_kmh": 19.93107233426793,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.5364089012146,
                "transform": {
                    "location": {
                        "x": 2388.32177734375,
                        "y": 2347.184326171875,
                        "z": 365.1408996582031
                    },
                    "rotation": {
                        "roll": -0.011444153264164925,
                        "pitch": -1.3577253818511963,
                        "yaw": -89.76736450195312
                    }
                },
                "velocity": {
                    "x": 0.030574223026633263,
                    "y": -5.534660339355469,
                    "z": -0.1357370913028717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.069995880126953,
                "transform": {
                    "location": {
                        "x": 2425.27490234375,
                        "y": 2295.339111328125,
                        "z": 363.4599609375
                    },
                    "rotation": {
                        "roll": 0.02188142202794552,
                        "pitch": 0.6975740194320679,
                        "yaw": -178.3244171142578
                    }
                },
                "velocity": {
                    "x": -8.066357612609863,
                    "y": -0.22148945927619934,
                    "z": 0.09822482615709305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2695131301879883,
                "transform": {
                    "location": {
                        "x": 2385.31396484375,
                        "y": 2243.514892578125,
                        "z": 362.7401428222656
                    },
                    "rotation": {
                        "roll": 0.013492989353835583,
                        "pitch": 1.1959524154663086,
                        "yaw": 90.65809631347656
                    }
                },
                "velocity": {
                    "x": -0.034426409751176834,
                    "y": 3.268655300140381,
                    "z": 0.06649928539991379
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.795858860015869,
                "transform": {
                    "location": {
                        "x": 2385.486572265625,
                        "y": 2345.706298828125,
                        "z": 365.0650939941406
                    },
                    "rotation": {
                        "roll": 0.0124269500374794,
                        "pitch": 1.416273832321167,
                        "yaw": 90.27571868896484
                    }
                },
                "velocity": {
                    "x": -0.0300446767359972,
                    "y": 4.794312477111816,
                    "z": 0.11801723390817642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011205764021724463,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": 2.6829606213141233e-05,
                    "y": -8.635252743260935e-05,
                    "z": 0.001116922008804977
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.660704612731934,
                "transform": {
                    "location": {
                        "x": 2335.45703125,
                        "y": 2298.1962890625,
                        "z": 364.1918640136719
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.09418830275535583,
                        "yaw": 0.43194928765296936
                    }
                },
                "velocity": {
                    "x": 5.660581111907959,
                    "y": 0.034321561455726624,
                    "z": 0.014811973087489605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.443658828735352,
                "transform": {
                    "location": {
                        "x": 2351.284912109375,
                        "y": 2298.18896484375,
                        "z": 364.1612548828125
                    },
                    "rotation": {
                        "roll": 0.0008008950971998274,
                        "pitch": -0.11902286857366562,
                        "yaw": 0.397506982088089
                    }
                },
                "velocity": {
                    "x": 7.44334077835083,
                    "y": 0.04855760559439659,
                    "z": -0.04878273978829384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.015912923961877823,
        "expert_target_speed": 8.00485143862366,
        "target_point": [
            18.699726279850513,
            13.643033935325795
        ],
        "target_point_next": [
            18.73777566294477,
            45.643102450505104
        ]
    },
    "45": {
        "acceleration": [
            0.2572822570800781,
            -0.022127404808998108,
            0.017407462000846863
        ],
        "angular_velocity": [
            -0.004698482807725668,
            0.6874090433120728,
            -0.1848204880952835
        ],
        "forward_vector": [
            0.9999848008155823,
            -0.004191243555396795,
            -0.003588906954973936
        ],
        "right_vector": [
            0.004190641455352306,
            0.999991238117218,
            -0.00017533928621560335
        ],
        "location": [
            2368.367919921875,
            2298.109130859375,
            364.02984619140625
        ],
        "rotation": [
            0.01004626601934433,
            -0.20562966167926788,
            -0.240142822265625
        ],
        "velocity": [
            7.096049785614014,
            -0.03299780935049057,
            -0.052624233067035675
        ],
        "speed": 7.096126507844588,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.36178970336914,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.327880859375,
                2345.421875,
                365.0963134765625
            ],
            "velocity": [
                0.00642643216997385,
                -8.151701927185059,
                -0.19869506359100342
            ],
            "speed_kmh": 29.35485238878745,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2439.65966796875,
                        "y": 2295.692626953125,
                        "z": 363.3956298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.154125213623047,
                "transform": {
                    "location": {
                        "x": 2388.327880859375,
                        "y": 2345.421875,
                        "z": 365.0963134765625
                    },
                    "rotation": {
                        "roll": -0.0012207344407215714,
                        "pitch": -1.1939443349838257,
                        "yaw": -89.84410858154297
                    }
                },
                "velocity": {
                    "x": 0.00642643216997385,
                    "y": -8.151701927185059,
                    "z": -0.19869506359100342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.46907377243042,
                "transform": {
                    "location": {
                        "x": 2423.29833984375,
                        "y": 2295.2861328125,
                        "z": 363.48431396484375
                    },
                    "rotation": {
                        "roll": 0.024713393300771713,
                        "pitch": 0.6433901190757751,
                        "yaw": -178.48692321777344
                    }
                },
                "velocity": {
                    "x": -7.4660515785217285,
                    "y": -0.19197648763656616,
                    "z": 0.09103353321552277
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.013613224029541,
                "transform": {
                    "location": {
                        "x": 2385.3046875,
                        "y": 2244.425048828125,
                        "z": 362.75872802734375
                    },
                    "rotation": {
                        "roll": 0.011729798279702663,
                        "pitch": 1.2011706829071045,
                        "yaw": 90.61251831054688
                    }
                },
                "velocity": {
                    "x": -0.0373530387878418,
                    "y": 4.012600421905518,
                    "z": 0.08205505460500717
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.338439464569092,
                "transform": {
                    "location": {
                        "x": 2385.48046875,
                        "y": 2346.728759765625,
                        "z": 365.0904846191406
                    },
                    "rotation": {
                        "roll": 0.014774445444345474,
                        "pitch": 1.3773553371429443,
                        "yaw": 90.31971740722656
                    }
                },
                "velocity": {
                    "x": -0.02174447663128376,
                    "y": 3.337378978729248,
                    "z": 0.08127576857805252
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000985160586424172,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": 3.093649502261542e-05,
                    "y": -7.114872278179973e-05,
                    "z": 0.0009821008425205946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.21686315536499,
                "transform": {
                    "location": {
                        "x": 2337.02490234375,
                        "y": 2298.20556640625,
                        "z": 364.19580078125
                    },
                    "rotation": {
                        "roll": -6.513776497352186e-12,
                        "pitch": -0.02572249062359333,
                        "yaw": 0.4064851999282837
                    }
                },
                "velocity": {
                    "x": 7.216728210449219,
                    "y": 0.04294177144765854,
                    "z": 0.010373583063483238
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.731072902679443,
                "transform": {
                    "location": {
                        "x": 2353.251953125,
                        "y": 2298.201416015625,
                        "z": 364.14739990234375
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": -0.31774720549583435,
                        "yaw": 0.36709141731262207
                    }
                },
                "velocity": {
                    "x": 7.730734825134277,
                    "y": 0.04852395877242088,
                    "z": -0.053607240319252014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.020859042182564735,
        "expert_target_speed": 8.25001170276149,
        "target_point": [
            16.94021936950183,
            13.658034268273283
        ],
        "target_point_next": [
            16.95258433141546,
            45.658123015641486
        ]
    },
    "50": {
        "acceleration": [
            -1.2166500091552734,
            -0.018399208784103394,
            0.003017634153366089
        ],
        "angular_velocity": [
            -0.0348857045173645,
            0.7722994089126587,
            -0.18947920203208923
        ],
        "forward_vector": [
            0.9999624490737915,
            -0.005009258631616831,
            -0.007063687313348055
        ],
        "right_vector": [
            0.005008104722946882,
            0.9999874234199524,
            -0.00018108091899193823
        ],
        "location": [
            2370.124267578125,
            2298.099853515625,
            364.0174560546875
        ],
        "rotation": [
            0.01037543173879385,
            -0.40472283959388733,
            -0.2870177626609802
        ],
        "velocity": [
            6.89080810546875,
            -0.037828229367733,
            -0.05219558626413345
        ],
        "speed": 6.890911936843405,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.775856018066406,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.32958984375,
                2343.339111328125,
                365.0469055175781
            ],
            "velocity": [
                0.001658193883486092,
                -8.235739707946777,
                -0.20057140290737152
            ],
            "speed_kmh": 29.657454655772785,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.898536443710327,
                "transform": {
                    "location": {
                        "x": 2438.045654296875,
                        "y": 2295.6572265625,
                        "z": 363.3304748535156
                    },
                    "rotation": {
                        "roll": -0.012054443359375,
                        "pitch": 0.17642377316951752,
                        "yaw": -178.7455291748047
                    }
                },
                "velocity": {
                    "x": -3.893350124359131,
                    "y": -0.10155222564935684,
                    "z": -0.1734859049320221
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.238182067871094,
                "transform": {
                    "location": {
                        "x": 2388.32958984375,
                        "y": 2343.339111328125,
                        "z": 365.0469055175781
                    },
                    "rotation": {
                        "roll": -0.004821713548153639,
                        "pitch": -1.3346189260482788,
                        "yaw": -89.9582290649414
                    }
                },
                "velocity": {
                    "x": 0.001658193883486092,
                    "y": -8.235739707946777,
                    "z": -0.20057140290737152
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.8348236083984375,
                "transform": {
                    "location": {
                        "x": 2421.723876953125,
                        "y": 2295.24609375,
                        "z": 363.50518798828125
                    },
                    "rotation": {
                        "roll": 0.014987502247095108,
                        "pitch": 0.20500127971172333,
                        "yaw": -178.5464630126953
                    }
                },
                "velocity": {
                    "x": -5.832552433013916,
                    "y": -0.14586091041564941,
                    "z": 0.07227613031864166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.928826808929443,
                "transform": {
                    "location": {
                        "x": 2385.2939453125,
                        "y": 2245.544189453125,
                        "z": 362.78179931640625
                    },
                    "rotation": {
                        "roll": 0.010073480196297169,
                        "pitch": 1.2137928009033203,
                        "yaw": 90.56661224365234
                    }
                },
                "velocity": {
                    "x": -0.04513222724199295,
                    "y": 4.927565574645996,
                    "z": 0.10195071995258331
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1286163330078125,
                "transform": {
                    "location": {
                        "x": 2385.478759765625,
                        "y": 2347.349853515625,
                        "z": 365.1058654785156
                    },
                    "rotation": {
                        "roll": 0.014318238943815231,
                        "pitch": 1.3594398498535156,
                        "yaw": 90.29742431640625
                    }
                },
                "velocity": {
                    "x": -0.00543151656165719,
                    "y": 1.1282721757888794,
                    "z": 0.02733471803367138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012754718773066998,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -1.7824446331360377e-05,
                    "y": -7.67898527556099e-05,
                    "z": 0.0012730334419757128
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.751989841461182,
                "transform": {
                    "location": {
                        "x": 2338.943603515625,
                        "y": 2298.21728515625,
                        "z": 364.19873046875
                    },
                    "rotation": {
                        "roll": -0.0025634767953306437,
                        "pitch": -0.01309347152709961,
                        "yaw": 0.35034218430519104
                    }
                },
                "velocity": {
                    "x": 7.751923084259033,
                    "y": 0.029726199805736542,
                    "z": 0.012325840070843697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.97055196762085,
                "transform": {
                    "location": {
                        "x": 2355.05810546875,
                        "y": 2298.2099609375,
                        "z": 364.1341247558594
                    },
                    "rotation": {
                        "roll": 0.0033287943806499243,
                        "pitch": -0.5081797242164612,
                        "yaw": 0.24997521936893463
                    }
                },
                "velocity": {
                    "x": 6.970308303833008,
                    "y": 0.025172034278512,
                    "z": -0.05255783349275589
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03346686065196991,
        "expert_target_speed": 8.049294230376518,
        "target_point": [
            15.172667514918436,
            13.672368124819176
        ],
        "target_point_next": [
            15.1588521356733,
            45.672456278869944
        ]
    },
    "55": {
        "acceleration": [
            -1.8024444580078125,
            -0.005422160029411316,
            0.01555509865283966
        ],
        "angular_velocity": [
            0.07948611676692963,
            0.334464967250824,
            -0.16827742755413055
        ],
        "forward_vector": [
            0.9999369382858276,
            -0.005797400139272213,
            -0.009617061354219913
        ],
        "right_vector": [
            0.0057960073463618755,
            0.9999831914901733,
            -0.00017268781084567308
        ],
        "location": [
            2371.78564453125,
            2298.09033203125,
            364.0054626464844
        ],
        "rotation": [
            0.009894740767776966,
            -0.5510255098342896,
            -0.3321838080883026
        ],
        "velocity": [
            6.451612949371338,
            -0.04047470539808273,
            -0.04870450869202614
        ],
        "speed": 6.451739908758954,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.32721710205078,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.329833984375,
                2341.351318359375,
                364.99932861328125
            ],
            "velocity": [
                -0.0002882546978071332,
                -7.781056880950928,
                -0.1885276436805725
            ],
            "speed_kmh": 28.02002570776671,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.5085606575012207,
                "transform": {
                    "location": {
                        "x": 2437.165771484375,
                        "y": 2295.63037109375,
                        "z": 363.31793212890625
                    },
                    "rotation": {
                        "roll": -0.007873534224927425,
                        "pitch": 0.4564410150051117,
                        "yaw": -178.4862518310547
                    }
                },
                "velocity": {
                    "x": -3.506676197052002,
                    "y": -0.11411847174167633,
                    "z": 0.014048432931303978
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.7833404541015625,
                "transform": {
                    "location": {
                        "x": 2388.329833984375,
                        "y": 2341.351318359375,
                        "z": 364.99932861328125
                    },
                    "rotation": {
                        "roll": -0.005005019251257181,
                        "pitch": -1.4179335832595825,
                        "yaw": -89.99107360839844
                    }
                },
                "velocity": {
                    "x": -0.0002882546978071332,
                    "y": -7.781056880950928,
                    "z": -0.1885276436805725
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.819260597229004,
                "transform": {
                    "location": {
                        "x": 2420.272216796875,
                        "y": 2295.209716796875,
                        "z": 363.52197265625
                    },
                    "rotation": {
                        "roll": 0.017321551218628883,
                        "pitch": 0.5017661452293396,
                        "yaw": -178.55799865722656
                    }
                },
                "velocity": {
                    "x": -5.817183494567871,
                    "y": -0.1374349445104599,
                    "z": 0.0727093517780304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.243866920471191,
                "transform": {
                    "location": {
                        "x": 2385.28173828125,
                        "y": 2246.838623046875,
                        "z": 362.8090515136719
                    },
                    "rotation": {
                        "roll": 0.010050290264189243,
                        "pitch": 1.2067782878875732,
                        "yaw": 90.53352355957031
                    }
                },
                "velocity": {
                    "x": -0.047707442194223404,
                    "y": 5.242541790008545,
                    "z": 0.10780473798513412
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010379533050581813,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.106201171875
                    },
                    "rotation": {
                        "roll": 0.01334280427545309,
                        "pitch": 1.3709418773651123,
                        "yaw": 90.29186248779297
                    }
                },
                "velocity": {
                    "x": -0.00010631077748257667,
                    "y": -7.229342736536637e-05,
                    "z": -0.0010299605783075094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010097447084262967,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -1.6495117961312644e-05,
                    "y": -7.94388324720785e-05,
                    "z": 0.0010064799571409822
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.886722087860107,
                "transform": {
                    "location": {
                        "x": 2340.7744140625,
                        "y": 2298.223388671875,
                        "z": 364.19866943359375
                    },
                    "rotation": {
                        "roll": -0.0033874507062137127,
                        "pitch": 0.08906566351652145,
                        "yaw": 0.2153649628162384
                    }
                },
                "velocity": {
                    "x": 6.886699676513672,
                    "y": 0.016654809936881065,
                    "z": -0.0054970551282167435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.352745056152344,
                "transform": {
                    "location": {
                        "x": 2356.5712890625,
                        "y": 2298.21435546875,
                        "z": 364.12249755859375
                    },
                    "rotation": {
                        "roll": 0.0008672793046571314,
                        "pitch": -0.6391827464103699,
                        "yaw": 0.1675894558429718
                    }
                },
                "velocity": {
                    "x": 5.352571964263916,
                    "y": 0.014052796177566051,
                    "z": -0.04071561619639397
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.061003677546978,
        "expert_target_speed": 7.6186312556176965,
        "target_point": [
            13.50048021591507,
            13.684214172771606
        ],
        "target_point_next": [
            13.461438181063594,
            45.684281492251394
        ]
    },
    "60": {
        "acceleration": [
            0.20503997802734375,
            0.8156661987304688,
            -0.01350603997707367
        ],
        "angular_velocity": [
            0.7799702882766724,
            -0.3382130265235901,
            2.1256730556488037
        ],
        "forward_vector": [
            0.9999470114707947,
            -0.0046145133674144745,
            -0.009200562722980976
        ],
        "right_vector": [
            0.0046208868734538555,
            0.9999890923500061,
            0.0006716207135468721
        ],
        "location": [
            2373.377685546875,
            2298.0830078125,
            363.9933776855469
        ],
        "rotation": [
            -0.0384826622903347,
            -0.5271608233451843,
            -0.2644042670726776
        ],
        "velocity": [
            6.334316730499268,
            0.013998901471495628,
            -0.04922455549240112
        ],
        "speed": 6.33433219933446,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.961219787597656,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.327392578125,
                2339.4130859375,
                364.9523620605469
            ],
            "velocity": [
                -0.01844448782503605,
                -7.68794584274292,
                -0.185442253947258
            ],
            "speed_kmh": 27.68473504321078,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4274871349334717,
                "transform": {
                    "location": {
                        "x": 2436.29638671875,
                        "y": 2295.60107421875,
                        "z": 363.3259582519531
                    },
                    "rotation": {
                        "roll": 0.0014443296240642667,
                        "pitch": 0.6793237328529358,
                        "yaw": -178.30201721191406
                    }
                },
                "velocity": {
                    "x": -3.4253087043762207,
                    "y": -0.11543808877468109,
                    "z": 0.040038470178842545
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.69020414352417,
                "transform": {
                    "location": {
                        "x": 2388.327392578125,
                        "y": 2339.4130859375,
                        "z": 364.9523620605469
                    },
                    "rotation": {
                        "roll": -0.0002441996766719967,
                        "pitch": -1.4085693359375,
                        "yaw": -90.08837127685547
                    }
                },
                "velocity": {
                    "x": -0.01844448782503605,
                    "y": -7.68794584274292,
                    "z": -0.185442253947258
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.88040828704834,
                "transform": {
                    "location": {
                        "x": 2418.489501953125,
                        "y": 2295.167724609375,
                        "z": 363.5414733886719
                    },
                    "rotation": {
                        "roll": 0.01762787066400051,
                        "pitch": 1.1690824031829834,
                        "yaw": -178.63259887695312
                    }
                },
                "velocity": {
                    "x": -7.877771377563477,
                    "y": -0.17995746433734894,
                    "z": 0.09577678143978119
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.200892448425293,
                "transform": {
                    "location": {
                        "x": 2385.269287109375,
                        "y": 2248.260498046875,
                        "z": 362.8382873535156
                    },
                    "rotation": {
                        "roll": 0.010123956017196178,
                        "pitch": 1.2240723371505737,
                        "yaw": 90.5531234741211
                    }
                },
                "velocity": {
                    "x": -0.056264154613018036,
                    "y": 6.1992950439453125,
                    "z": 0.12901613116264343
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025835930136963725,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10601806640625
                    },
                    "rotation": {
                        "roll": 0.01377957034856081,
                        "pitch": 1.3963979482650757,
                        "yaw": 90.29194641113281
                    }
                },
                "velocity": {
                    "x": 1.3409822713583708e-05,
                    "y": -4.4991520553594455e-05,
                    "z": -0.0002540580171626061
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008562078000977635,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -6.812523224652978e-06,
                    "y": -6.746634608134627e-05,
                    "z": 0.0008535184315405786
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.613109111785889,
                "transform": {
                    "location": {
                        "x": 2342.223876953125,
                        "y": 2298.22705078125,
                        "z": 364.1968994140625
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.14434921741485596,
                        "yaw": 0.16280052065849304
                    }
                },
                "velocity": {
                    "x": 4.613093852996826,
                    "y": 0.009683734737336636,
                    "z": -0.0069687748327851295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.204660415649414,
                "transform": {
                    "location": {
                        "x": 2357.86767578125,
                        "y": 2298.218017578125,
                        "z": 364.1128845214844
                    },
                    "rotation": {
                        "roll": 4.42873097199481e-05,
                        "pitch": -0.5040816068649292,
                        "yaw": 0.1346602737903595
                    }
                },
                "velocity": {
                    "x": 5.204489231109619,
                    "y": 0.011437046341598034,
                    "z": -0.04064953327178955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29177984595298767,
        "expert_target_speed": 7.503256079695515,
        "target_point": [
            11.924601778539712,
            13.668210514590033
        ],
        "target_point_next": [
            11.923416897483836,
            45.66830162895689
        ]
    },
    "65": {
        "acceleration": [
            -0.36194801330566406,
            1.4472377300262451,
            0.007601827383041382
        ],
        "angular_velocity": [
            0.8392466306686401,
            -0.07071614265441895,
            10.785290718078613
        ],
        "forward_vector": [
            0.9996097087860107,
            0.026670221239328384,
            -0.00831594318151474
        ],
        "right_vector": [
            -0.02662096917629242,
            0.9996277093887329,
            0.005978021305054426
        ],
        "location": [
            2374.95556640625,
            2298.126708984375,
            363.98138427734375
        ],
        "rotation": [
            -0.3425292670726776,
            -0.47647395730018616,
            1.5283252000808716
        ],
        "velocity": [
            6.291290283203125,
            0.3716870844364166,
            -0.04834923520684242
        ],
        "speed": 6.302260286299107,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.64189529418945,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.32275390625,
                2337.553955078125,
                364.90765380859375
            ],
            "velocity": [
                -0.019915113225579262,
                -7.174993515014648,
                -0.17304947972297668
            ],
            "speed_kmh": 25.837587654108034,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.10241174697876,
                "transform": {
                    "location": {
                        "x": 2435.39111328125,
                        "y": 2295.572998046875,
                        "z": 363.33734130859375
                    },
                    "rotation": {
                        "roll": 0.016417181119322777,
                        "pitch": 0.840359091758728,
                        "yaw": -178.28292846679688
                    }
                },
                "velocity": {
                    "x": -4.100396156311035,
                    "y": -0.11764957755804062,
                    "z": 0.05185302719473839
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.177107810974121,
                "transform": {
                    "location": {
                        "x": 2388.32275390625,
                        "y": 2337.553955078125,
                        "z": 364.90765380859375
                    },
                    "rotation": {
                        "roll": -0.0016479206969961524,
                        "pitch": -1.4271200895309448,
                        "yaw": -90.13945770263672
                    }
                },
                "velocity": {
                    "x": -0.019915113225579262,
                    "y": -7.174993515014648,
                    "z": -0.17304947972297668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.317556381225586,
                "transform": {
                    "location": {
                        "x": 2416.41943359375,
                        "y": 2295.120849609375,
                        "z": 363.5671691894531
                    },
                    "rotation": {
                        "roll": 0.010992591269314289,
                        "pitch": 1.0665613412857056,
                        "yaw": -178.68540954589844
                    }
                },
                "velocity": {
                    "x": -8.31482982635498,
                    "y": -0.18648989498615265,
                    "z": 0.10283733159303665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.257701396942139,
                "transform": {
                    "location": {
                        "x": 2385.256591796875,
                        "y": 2249.940185546875,
                        "z": 362.87322998046875
                    },
                    "rotation": {
                        "roll": 0.009610693901777267,
                        "pitch": 1.2314283847808838,
                        "yaw": 90.46347045898438
                    }
                },
                "velocity": {
                    "x": -0.04454740509390831,
                    "y": 7.2559967041015625,
                    "z": 0.15086868405342102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009407651959918439,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 5.508430604095338e-06,
                    "y": -2.7792006221716292e-05,
                    "z": -0.0009403384756296873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007101816590875387,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -1.6026322555262595e-05,
                    "y": -5.413129838416353e-05,
                    "z": 0.0007079343195073307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.374784469604492,
                "transform": {
                    "location": {
                        "x": 2343.283447265625,
                        "y": 2298.229248046875,
                        "z": 364.197021484375
                    },
                    "rotation": {
                        "roll": 0.0005099226254969835,
                        "pitch": -0.006625283043831587,
                        "yaw": 0.14906251430511475
                    }
                },
                "velocity": {
                    "x": 4.374771595001221,
                    "y": 0.00922918040305376,
                    "z": -0.005368880927562714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.704636096954346,
                "transform": {
                    "location": {
                        "x": 2359.28125,
                        "y": 2298.220458984375,
                        "z": 364.1025390625
                    },
                    "rotation": {
                        "roll": 0.002799439709633589,
                        "pitch": -0.25018298625946045,
                        "yaw": 0.09744872152805328
                    }
                },
                "velocity": {
                    "x": 6.704440116882324,
                    "y": 0.007653058506548405,
                    "z": -0.050692830234766006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.585517942905426,
        "expert_target_speed": 7.471704099666043,
        "target_point": [
            10.767874660834604,
            13.286870974496024
        ],
        "target_point_next": [
            11.767777253882416,
            45.27133638406853
        ]
    },
    "70": {
        "acceleration": [
            1.3171958923339844,
            3.507620096206665,
            -0.015176907181739807
        ],
        "angular_velocity": [
            2.112548351287842,
            -0.298707515001297,
            20.613481521606445
        ],
        "forward_vector": [
            0.9954489469528198,
            0.09503571689128876,
            -0.007044018246233463
        ],
        "right_vector": [
            -0.0949423611164093,
            0.9954032897949219,
            0.012576932087540627
        ],
        "location": [
            2376.544677734375,
            2298.284912109375,
            363.9690856933594
        ],
        "rotation": [
            -0.7206420302391052,
            -0.40359586477279663,
            5.4535112380981445
        ],
        "velocity": [
            6.454232692718506,
            1.0163344144821167,
            -0.04905341565608978
        ],
        "speed": 6.533762720960801,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.33469772338867,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.31787109375,
                2335.8056640625,
                364.8655090332031
            ],
            "velocity": [
                -0.024425217881798744,
                -6.8704729080200195,
                -0.16502004861831665
            ],
            "speed_kmh": 24.740992126239988,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.8828125,
                        "z": 365.5050048828125
                    },
                    "rotation": {
                        "roll": 5.3377039677116045e-08,
                        "pitch": -1.411130666732788,
                        "yaw": -90.2624282836914
                    }
                },
                "velocity": {
                    "x": 7.695076520430888e-11,
                    "y": 1.6800502322666944e-08,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.407519817352295,
                "transform": {
                    "location": {
                        "x": 2434.19140625,
                        "y": 2295.53857421875,
                        "z": 363.3531494140625
                    },
                    "rotation": {
                        "roll": 0.01080409623682499,
                        "pitch": 0.9830759167671204,
                        "yaw": -178.32192993164062
                    }
                },
                "velocity": {
                    "x": -5.404881000518799,
                    "y": -0.15329943597316742,
                    "z": 0.07094806432723999
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.872498035430908,
                "transform": {
                    "location": {
                        "x": 2388.31787109375,
                        "y": 2335.8056640625,
                        "z": 364.8655090332031
                    },
                    "rotation": {
                        "roll": -0.001525845262221992,
                        "pitch": -1.4252350330352783,
                        "yaw": -90.1700668334961
                    }
                },
                "velocity": {
                    "x": -0.024425217881798744,
                    "y": -6.8704729080200195,
                    "z": -0.16502004861831665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.799088478088379,
                "transform": {
                    "location": {
                        "x": 2414.41845703125,
                        "y": 2295.076904296875,
                        "z": 363.59326171875
                    },
                    "rotation": {
                        "roll": 0.011406494304537773,
                        "pitch": 0.6945824027061462,
                        "yaw": -178.76170349121094
                    }
                },
                "velocity": {
                    "x": -7.79671049118042,
                    "y": -0.16757747530937195,
                    "z": 0.09485423564910889
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.190689086914062,
                "transform": {
                    "location": {
                        "x": 2385.244873046875,
                        "y": 2251.854248046875,
                        "z": 362.9133605957031
                    },
                    "rotation": {
                        "roll": 0.007159585133194923,
                        "pitch": 1.2316128015518188,
                        "yaw": 90.33080291748047
                    }
                },
                "velocity": {
                    "x": -0.04214436560869217,
                    "y": 8.188762664794922,
                    "z": 0.1725696474313736
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.825494296615943e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 4.247776359989075e-06,
                    "y": -5.16360996698495e-05,
                    "z": 7.144651317503303e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016587255522608757,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -4.341006206232123e-05,
                    "y": -9.493604011368006e-05,
                    "z": 0.0016554375179111958
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.157879829406738,
                "transform": {
                    "location": {
                        "x": 2344.5009765625,
                        "y": 2298.23046875,
                        "z": 364.19561767578125
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": -0.1867646872997284,
                        "yaw": 0.10255575180053711
                    }
                },
                "velocity": {
                    "x": 5.157856464385986,
                    "y": 0.0037994987796992064,
                    "z": -0.014978627674281597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.333723068237305,
                "transform": {
                    "location": {
                        "x": 2360.9638671875,
                        "y": 2298.222412109375,
                        "z": 364.0896301269531
                    },
                    "rotation": {
                        "roll": 0.004307711496949196,
                        "pitch": -0.4192233383655548,
                        "yaw": -0.132293701171875
                    }
                },
                "velocity": {
                    "x": 6.333542823791504,
                    "y": 0.004377088043838739,
                    "z": -0.047555990517139435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8852475881576538,
        "expert_target_speed": 7.660688068492448,
        "target_point": [
            10.055198613489278,
            12.512141447740719
        ],
        "target_point_next": [
            13.242211983017285,
            44.35313355719254
        ]
    },
    "75": {
        "acceleration": [
            0.9118270874023438,
            4.279308319091797,
            -0.013584718108177185
        ],
        "angular_velocity": [
            1.6431182622909546,
            -0.04031024128198624,
            32.04446029663086
        ],
        "forward_vector": [
            0.9773015975952148,
            0.21179170906543732,
            -0.00509081082418561
        ],
        "right_vector": [
            -0.2116335779428482,
            0.9771010279655457,
            0.022017482668161392
        ],
        "location": [
            2378.197021484375,
            2298.649169921875,
            363.9561767578125
        ],
        "rotation": [
            -1.2616270780563354,
            -0.29168322682380676,
            12.227532386779785
        ],
        "velocity": [
            6.7272820472717285,
            2.065950870513916,
            -0.0519477017223835
        ],
        "speed": 7.037362911128124,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.3554708178575003,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.89667892456055,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.312255859375,
                2334.12158203125,
                364.8249816894531
            ],
            "velocity": [
                -0.023991109803318977,
                -6.5981950759887695,
                -0.15853504836559296
            ],
            "speed_kmh": 23.760514684165233,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13032475113868713,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.885986328125,
                        "z": 365.1476135253906
                    },
                    "rotation": {
                        "roll": -0.0004577619838528335,
                        "pitch": -1.413787603378296,
                        "yaw": -90.262451171875
                    }
                },
                "velocity": {
                    "x": -4.564295522868633e-05,
                    "y": 0.003161573549732566,
                    "z": -0.13028639554977417
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.75590181350708,
                "transform": {
                    "location": {
                        "x": 2432.805419921875,
                        "y": 2295.499267578125,
                        "z": 363.3706970214844
                    },
                    "rotation": {
                        "roll": 0.007383091375231743,
                        "pitch": 0.8544020056724548,
                        "yaw": -178.37391662597656
                    }
                },
                "velocity": {
                    "x": -5.753162860870361,
                    "y": -0.16185058653354645,
                    "z": 0.07297250628471375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.600142955780029,
                "transform": {
                    "location": {
                        "x": 2388.312255859375,
                        "y": 2334.12158203125,
                        "z": 364.8249816894531
                    },
                    "rotation": {
                        "roll": -0.0013122198870405555,
                        "pitch": -1.4090269804000854,
                        "yaw": -90.19721984863281
                    }
                },
                "velocity": {
                    "x": -0.023991109803318977,
                    "y": -6.5981950759887695,
                    "z": -0.15853504836559296
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.098175048828125,
                "transform": {
                    "location": {
                        "x": 2412.443115234375,
                        "y": 2295.033935546875,
                        "z": 363.6170654296875
                    },
                    "rotation": {
                        "roll": 0.0056413933634757996,
                        "pitch": 0.7559584379196167,
                        "yaw": -178.7542266845703
                    }
                },
                "velocity": {
                    "x": -8.095731735229492,
                    "y": -0.17397233843803406,
                    "z": 0.09643767774105072
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.329939842224121,
                "transform": {
                    "location": {
                        "x": 2385.23388671875,
                        "y": 2253.984375,
                        "z": 362.9582214355469
                    },
                    "rotation": {
                        "roll": 0.004055286757647991,
                        "pitch": 1.2267565727233887,
                        "yaw": 90.22477722167969
                    }
                },
                "velocity": {
                    "x": -0.03288143873214722,
                    "y": 8.327998161315918,
                    "z": 0.1767972856760025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007716014515608549,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2446485925465822e-05,
                    "y": -2.9237568014650606e-05,
                    "z": -0.0007709468482062221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004116444324608892,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -1.0100099643750582e-05,
                    "y": -5.742162466049194e-05,
                    "z": 0.0004074946336913854
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.7617363929748535,
                "transform": {
                    "location": {
                        "x": 2345.8486328125,
                        "y": 2298.23193359375,
                        "z": 364.1918640136719
                    },
                    "rotation": {
                        "roll": -9.155271254712716e-05,
                        "pitch": -0.24285419285297394,
                        "yaw": 0.06400099396705627
                    }
                },
                "velocity": {
                    "x": 5.7617082595825195,
                    "y": 0.003677540924400091,
                    "z": -0.017630290240049362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.598340034484863,
                "transform": {
                    "location": {
                        "x": 2362.48681640625,
                        "y": 2298.222412109375,
                        "z": 364.07806396484375
                    },
                    "rotation": {
                        "roll": 0.004576534498482943,
                        "pitch": -0.5350633263587952,
                        "yaw": -0.080169677734375
                    }
                },
                "velocity": {
                    "x": 5.598184108734131,
                    "y": -0.002514500170946121,
                    "z": -0.041717566549777985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0017355680465698,
        "expert_target_speed": 8.148141685474242,
        "target_point": [
            9.76884908054475,
            11.232711647348893
        ],
        "target_point_next": [
            16.68937235715266,
            42.47550586152974
        ]
    },
    "80": {
        "acceleration": [
            0.35805702209472656,
            6.287946701049805,
            -0.004519820213317871
        ],
        "angular_velocity": [
            2.245988368988037,
            0.4757212698459625,
            39.32167434692383
        ],
        "forward_vector": [
            0.9315635561943054,
            0.36356064677238464,
            -0.003605953883379698
        ],
        "right_vector": [
            -0.3632911443710327,
            0.931175708770752,
            0.03051861561834812
        ],
        "location": [
            2379.91015625,
            2299.310791015625,
            363.94268798828125
        ],
        "rotation": [
            -1.748870849609375,
            -0.20660638809204102,
            21.31917381286621
        ],
        "velocity": [
            6.883488178253174,
            3.437840461730957,
            -0.05304780229926109
        ],
        "speed": 7.6942287813962045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.2470798184924923,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.255706787109375,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.305908203125,
                2332.510986328125,
                364.78643798828125
            ],
            "velocity": [
                -0.025621110573410988,
                -6.289529323577881,
                -0.150215283036232
            ],
            "speed_kmh": 22.64895022719267,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.3701477050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15185558795928955,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18515650928020477,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.884765625,
                        "z": 365.19451904296875
                    },
                    "rotation": {
                        "roll": -0.00042717691394500434,
                        "pitch": -1.4136987924575806,
                        "yaw": -90.26254272460938
                    }
                },
                "velocity": {
                    "x": -0.00015825682203285396,
                    "y": -0.004607661627233028,
                    "z": 0.18509909510612488
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.603034973144531,
                "transform": {
                    "location": {
                        "x": 2431.19091796875,
                        "y": 2295.4541015625,
                        "z": 363.3912658691406
                    },
                    "rotation": {
                        "roll": 0.006679221522063017,
                        "pitch": 1.0689996480941772,
                        "yaw": -178.4087371826172
                    }
                },
                "velocity": {
                    "x": -7.599490642547607,
                    "y": -0.21159809827804565,
                    "z": 0.09544254094362259
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.291374683380127,
                "transform": {
                    "location": {
                        "x": 2388.305908203125,
                        "y": 2332.510986328125,
                        "z": 364.78643798828125
                    },
                    "rotation": {
                        "roll": -0.00012201990466564894,
                        "pitch": -1.4110418558120728,
                        "yaw": -90.21920776367188
                    }
                },
                "velocity": {
                    "x": -0.025621110573410988,
                    "y": -6.289529323577881,
                    "z": -0.150215283036232
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.068236351013184,
                "transform": {
                    "location": {
                        "x": 2410.408447265625,
                        "y": 2294.990966796875,
                        "z": 363.6416015625
                    },
                    "rotation": {
                        "roll": 0.004057969897985458,
                        "pitch": 0.7253250479698181,
                        "yaw": -178.79080200195312
                    }
                },
                "velocity": {
                    "x": -8.06586742401123,
                    "y": -0.1701110303401947,
                    "z": 0.09636173397302628
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.377429008483887,
                "transform": {
                    "location": {
                        "x": 2385.2265625,
                        "y": 2255.93505859375,
                        "z": 363.0
                    },
                    "rotation": {
                        "roll": 0.0012653509620577097,
                        "pitch": 1.1877083778381348,
                        "yaw": 90.15258026123047
                    }
                },
                "velocity": {
                    "x": -0.02141101472079754,
                    "y": 7.375760555267334,
                    "z": 0.1554241180419922
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005395922344177961,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2522479664767161e-05,
                    "y": -3.482401371002197e-05,
                    "z": -0.0005383217358030379
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016273708315566182,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -2.20485726458719e-05,
                    "y": -8.75768018886447e-05,
                    "z": 0.0016248630126938224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9293036460876465,
                "transform": {
                    "location": {
                        "x": 2347.36279296875,
                        "y": 2298.23388671875,
                        "z": 364.1875305175781
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": -0.3350276052951813,
                        "yaw": 0.015961013734340668
                    }
                },
                "velocity": {
                    "x": 6.929253578186035,
                    "y": 0.002593915443867445,
                    "z": -0.02619180642068386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3672261238098145,
                "transform": {
                    "location": {
                        "x": 2363.829345703125,
                        "y": 2298.222412109375,
                        "z": 364.0680236816406
                    },
                    "rotation": {
                        "roll": 0.00020015670452266932,
                        "pitch": -0.48660314083099365,
                        "yaw": -0.020263671875
                    }
                },
                "velocity": {
                    "x": 5.367069721221924,
                    "y": -0.0020062678959220648,
                    "z": -0.04092419147491455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9991508722305298,
        "expert_target_speed": 8.779200345234873,
        "target_point": [
            9.58460743474247,
            9.554459272717308
        ],
        "target_point_next": [
            21.35500237837276,
            39.3112002838342
        ]
    },
    "85": {
        "acceleration": [
            -1.7412376403808594,
            5.900201797485352,
            1.4595835208892822
        ],
        "angular_velocity": [
            14.033601760864258,
            2.3806252479553223,
            48.143436431884766
        ],
        "forward_vector": [
            0.8477967381477356,
            0.5303181409835815,
            0.0018297422211617231
        ],
        "right_vector": [
            -0.5297287106513977,
            0.8466812372207642,
            0.050183676183223724
        ],
        "location": [
            2381.631103515625,
            2300.34912109375,
            363.9336242675781
        ],
        "rotation": [
            -2.87652587890625,
            0.10483656823635101,
            32.02701187133789
        ],
        "velocity": [
            6.701767921447754,
            5.046100616455078,
            0.06333564966917038
        ],
        "speed": 8.389089623095849,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.1141732268934526,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.365262985229492,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.300048828125,
                2330.986328125,
                364.74993896484375
            ],
            "velocity": [
                -0.025105895474553108,
                -5.943472385406494,
                -0.14158937335014343
            ],
            "speed_kmh": 21.4027620276283,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4421,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.183349609375,
                        "z": 362.89410400390625
                    },
                    "rotation": {
                        "roll": 1.0674393990939279e-07,
                        "pitch": 1.1696629524230957,
                        "yaw": 90.0888442993164
                    }
                },
                "velocity": {
                    "x": -6.329965718254726e-11,
                    "y": 4.082158255869217e-08,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.10994642227888107,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.1340026855469
                    },
                    "rotation": {
                        "roll": 7.751089287921786e-05,
                        "pitch": 0.15319430828094482,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": -0.0002532724756747484,
                    "y": 4.189884566585533e-05,
                    "z": 0.1099461242556572
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6269544959068298,
                "transform": {
                    "location": {
                        "x": 2388.299560546875,
                        "y": 2351.8564453125,
                        "z": 365.2145080566406
                    },
                    "rotation": {
                        "roll": -0.0015869990456849337,
                        "pitch": -1.4008444547653198,
                        "yaw": -90.25025939941406
                    }
                },
                "velocity": {
                    "x": 0.007613672874867916,
                    "y": -0.6268959045410156,
                    "z": 0.0039313314482569695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.303658485412598,
                "transform": {
                    "location": {
                        "x": 2429.1376953125,
                        "y": 2295.400390625,
                        "z": 363.41693115234375
                    },
                    "rotation": {
                        "roll": 0.01644173264503479,
                        "pitch": 0.9238445162773132,
                        "yaw": -178.54763793945312
                    }
                },
                "velocity": {
                    "x": -8.300461769104004,
                    "y": -0.20637157559394836,
                    "z": 0.10241147875785828
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.945211410522461,
                "transform": {
                    "location": {
                        "x": 2388.300048828125,
                        "y": 2330.986328125,
                        "z": 364.74993896484375
                    },
                    "rotation": {
                        "roll": -0.00042722959187813103,
                        "pitch": -1.409846544265747,
                        "yaw": -90.21837615966797
                    }
                },
                "velocity": {
                    "x": -0.025105895474553108,
                    "y": -5.943472385406494,
                    "z": -0.14158937335014343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.937994003295898,
                "transform": {
                    "location": {
                        "x": 2408.41845703125,
                        "y": 2294.94921875,
                        "z": 363.6653747558594
                    },
                    "rotation": {
                        "roll": 0.002461801515892148,
                        "pitch": 0.6592839956283569,
                        "yaw": -178.77392578125
                    }
                },
                "velocity": {
                    "x": -7.935639381408691,
                    "y": -0.16800439357757568,
                    "z": 0.09563636779785156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.323516845703125,
                "transform": {
                    "location": {
                        "x": 2385.221923828125,
                        "y": 2257.701904296875,
                        "z": 363.0375671386719
                    },
                    "rotation": {
                        "roll": 0.0012918246211484075,
                        "pitch": 1.1899349689483643,
                        "yaw": 90.11812591552734
                    }
                },
                "velocity": {
                    "x": -0.015295513905584812,
                    "y": 6.322032928466797,
                    "z": 0.13612686097621918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.812953067012131e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2866605629824335e-06,
                    "y": -4.6346634917426854e-05,
                    "z": -8.648548100609332e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007647799211554229,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3348693847656
                    },
                    "rotation": {
                        "roll": 0.0007781351450830698,
                        "pitch": 1.4252077341079712,
                        "yaw": 89.73783874511719
                    }
                },
                "velocity": {
                    "x": -2.0074110580026172e-05,
                    "y": -6.440266588469967e-05,
                    "z": 0.0007617989904247224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.63194465637207,
                "transform": {
                    "location": {
                        "x": 2349.23876953125,
                        "y": 2298.234130859375,
                        "z": 364.17791748046875
                    },
                    "rotation": {
                        "roll": -0.0025634767953306437,
                        "pitch": -0.3945253789424896,
                        "yaw": 0.01243017241358757
                    }
                },
                "velocity": {
                    "x": 7.631814479827881,
                    "y": -0.00024166553339455277,
                    "z": -0.044595327228307724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.5834856033325195,
                "transform": {
                    "location": {
                        "x": 2365.257568359375,
                        "y": 2298.22265625,
                        "z": 364.05755615234375
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.30096542835235596,
                        "yaw": -0.01733398251235485
                    }
                },
                "velocity": {
                    "x": 6.58329963684082,
                    "y": -0.002198958769440651,
                    "z": -0.04944659769535065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0013281106948853,
        "expert_target_speed": 9.43935486186818,
        "target_point": [
            9.18327518839205,
            7.639625020278844
        ],
        "target_point_next": [
            26.27753063346719,
            34.69128418400192
        ]
    },
    "90": {
        "acceleration": [
            -5.3851318359375,
            8.506946563720703,
            0.984758734703064
        ],
        "angular_velocity": [
            1.131964087486267,
            -15.062789916992188,
            52.31657028198242
        ],
        "forward_vector": [
            0.7074643969535828,
            0.7057638168334961,
            0.03730277344584465
        ],
        "right_vector": [
            -0.7061383128166199,
            0.7036742568016052,
            0.07881203293800354
        ],
        "location": [
            2383.24365234375,
            2301.838134765625,
            363.9640808105469
        ],
        "rotation": [
            -4.523439407348633,
            2.1377875804901123,
            44.931053161621094
        ],
        "velocity": [
            5.827112674713135,
            6.9631028175354,
            0.27219098806381226
        ],
        "speed": 9.079649936609444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.9630098464058703,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.150501251220703,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.2939453125,
                2329.521728515625,
                364.7149963378906
            ],
            "velocity": [
                -0.02557532675564289,
                -5.773472309112549,
                -0.13750481605529785
            ],
            "speed_kmh": 20.7905981760802,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4421,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1322304606437683,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.18603515625,
                        "z": 362.6403503417969
                    },
                    "rotation": {
                        "roll": 0.00029658759012818336,
                        "pitch": 1.1651345491409302,
                        "yaw": 90.08895874023438
                    }
                },
                "velocity": {
                    "x": 0.00010938131163129583,
                    "y": -0.0027179026510566473,
                    "z": 0.13220247626304626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9265674948692322,
                "transform": {
                    "location": {
                        "x": 2330.982177734375,
                        "y": 2298.154052734375,
                        "z": 364.16558837890625
                    },
                    "rotation": {
                        "roll": -0.004180908668786287,
                        "pitch": 0.3017235994338989,
                        "yaw": -0.0439147986471653
                    }
                },
                "velocity": {
                    "x": 0.9231655597686768,
                    "y": 0.006847775541245937,
                    "z": 0.07903001457452774
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6096694469451904,
                "transform": {
                    "location": {
                        "x": 2388.30224609375,
                        "y": 2351.54833984375,
                        "z": 365.2071838378906
                    },
                    "rotation": {
                        "roll": -0.002746638609096408,
                        "pitch": -1.3793634176254272,
                        "yaw": -90.16161346435547
                    }
                },
                "velocity": {
                    "x": 0.008138085715472698,
                    "y": -1.6090859174728394,
                    "z": -0.04256394878029823
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8179426193237305,
                "transform": {
                    "location": {
                        "x": 2427.135986328125,
                        "y": 2295.3515625,
                        "z": 363.4417419433594
                    },
                    "rotation": {
                        "roll": 0.009605798870325089,
                        "pitch": 0.6863247156143188,
                        "yaw": -178.6005096435547
                    }
                },
                "velocity": {
                    "x": -7.815072059631348,
                    "y": -0.18772642314434052,
                    "z": 0.09814582765102386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.775166034698486,
                "transform": {
                    "location": {
                        "x": 2388.2939453125,
                        "y": 2329.521728515625,
                        "z": 364.7149963378906
                    },
                    "rotation": {
                        "roll": -0.001037697191350162,
                        "pitch": -1.3979483842849731,
                        "yaw": -90.23715209960938
                    }
                },
                "velocity": {
                    "x": -0.02557532675564289,
                    "y": -5.773472309112549,
                    "z": -0.13750481605529785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.082969665527344,
                "transform": {
                    "location": {
                        "x": 2406.413330078125,
                        "y": 2294.90625,
                        "z": 363.68853759765625
                    },
                    "rotation": {
                        "roll": 0.0016204715939238667,
                        "pitch": 0.7013989090919495,
                        "yaw": -178.803955078125
                    }
                },
                "velocity": {
                    "x": -8.080649375915527,
                    "y": -0.17059297859668732,
                    "z": 0.09165431559085846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.590167045593262,
                "transform": {
                    "location": {
                        "x": 2385.218505859375,
                        "y": 2259.154541015625,
                        "z": 363.06854248046875
                    },
                    "rotation": {
                        "roll": 0.0008236456196755171,
                        "pitch": 1.2010750770568848,
                        "yaw": 90.11260986328125
                    }
                },
                "velocity": {
                    "x": -0.010560697875916958,
                    "y": 5.588888645172119,
                    "z": 0.11908604949712753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010391302639618516,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -5.163156856724527e-06,
                    "y": -2.3782698917784728e-05,
                    "z": -0.0010388452792540193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.2263396978378296,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.90185546875,
                        "z": 365.33489990234375
                    },
                    "rotation": {
                        "roll": 0.0006095183780416846,
                        "pitch": 1.4337931871414185,
                        "yaw": 89.7406005859375
                    }
                },
                "velocity": {
                    "x": -0.001492698211222887,
                    "y": 0.22627472877502441,
                    "z": 0.005213269963860512
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.06510591506958,
                "transform": {
                    "location": {
                        "x": 2351.061767578125,
                        "y": 2298.234130859375,
                        "z": 364.166748046875
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.3303898870944977,
                        "yaw": 0.0021151958499103785
                    }
                },
                "velocity": {
                    "x": 7.064970970153809,
                    "y": -0.0012713433243334293,
                    "z": -0.043664831668138504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.908938884735107,
                "transform": {
                    "location": {
                        "x": 2367.141845703125,
                        "y": 2298.222412109375,
                        "z": 364.0435485839844
                    },
                    "rotation": {
                        "roll": 8.15367529867217e-05,
                        "pitch": -0.2326362282037735,
                        "yaw": -0.054046619683504105
                    }
                },
                "velocity": {
                    "x": 7.908709526062012,
                    "y": -0.002855716971680522,
                    "z": -0.06012388691306114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0021225214004517,
        "expert_target_speed": 10.089076339045619,
        "target_point": [
            8.464191526063962,
            5.480598943010412
        ],
        "target_point_next": [
            31.16789697717345,
            28.03159873284202
        ]
    },
    "95": {
        "acceleration": [
            -6.3784027099609375,
            5.842342376708984,
            1.5428632497787476
        ],
        "angular_velocity": [
            -9.291918754577637,
            2.1914730072021484,
            51.66776657104492
        ],
        "forward_vector": [
            0.5346397161483765,
            0.8439448475837708,
            0.04378753900527954
        ],
        "right_vector": [
            -0.8439754247665405,
            0.5305752754211426,
            0.07871011644601822
        ],
        "location": [
            2384.576416015625,
            2303.76708984375,
            364.0412902832031
        ],
        "rotation": [
            -4.518770217895508,
            2.5096435546875,
            57.645713806152344
        ],
        "velocity": [
            4.56503438949585,
            8.593024253845215,
            0.40274137258529663
        ],
        "speed": 9.730344536780384,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.807949699256846,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.645713806152344,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.2880859375,
                2328.123291015625,
                364.68170166015625
            ],
            "velocity": [
                -0.021660465747117996,
                -5.416589260101318,
                -0.1283903419971466
            ],
            "speed_kmh": 19.505354300542187,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4421,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1318736970424652,
                "transform": {
                    "location": {
                        "x": 2385.34423828125,
                        "y": 2241.184814453125,
                        "z": 362.6914367675781
                    },
                    "rotation": {
                        "roll": 0.0023184753954410553,
                        "pitch": 1.1660635471343994,
                        "yaw": 90.0890121459961
                    }
                },
                "velocity": {
                    "x": -6.8520403146976605e-06,
                    "y": -0.002728566527366638,
                    "z": 0.13184545934200287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.361193895339966,
                "transform": {
                    "location": {
                        "x": 2331.408447265625,
                        "y": 2298.158203125,
                        "z": 364.17584228515625
                    },
                    "rotation": {
                        "roll": -0.008514404296875,
                        "pitch": 0.4290929436683655,
                        "yaw": 0.12672187387943268
                    }
                },
                "velocity": {
                    "x": 2.361006021499634,
                    "y": 0.02257869578897953,
                    "z": 0.019415663555264473
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.160707950592041,
                "transform": {
                    "location": {
                        "x": 2388.303466796875,
                        "y": 2351.077880859375,
                        "z": 365.1951599121094
                    },
                    "rotation": {
                        "roll": -0.004150404594838619,
                        "pitch": -1.3920539617538452,
                        "yaw": -90.08267211914062
                    }
                },
                "velocity": {
                    "x": 0.00982980988919735,
                    "y": -2.160004138946533,
                    "z": -0.05426173657178879
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.109100341796875,
                "transform": {
                    "location": {
                        "x": 2425.154541015625,
                        "y": 2295.304931640625,
                        "z": 363.4662780761719
                    },
                    "rotation": {
                        "roll": 0.010704569518566132,
                        "pitch": 0.7469699382781982,
                        "yaw": -178.67080688476562
                    }
                },
                "velocity": {
                    "x": -8.106372833251953,
                    "y": -0.18500545620918274,
                    "z": 0.09999425709247589
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.418153762817383,
                "transform": {
                    "location": {
                        "x": 2388.2880859375,
                        "y": 2328.123291015625,
                        "z": 364.68170166015625
                    },
                    "rotation": {
                        "roll": -0.0007934985915198922,
                        "pitch": -1.3980098962783813,
                        "yaw": -90.24077606201172
                    }
                },
                "velocity": {
                    "x": -0.021660465747117996,
                    "y": -5.416589260101318,
                    "z": -0.1283903419971466
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0051851272583,
                "transform": {
                    "location": {
                        "x": 2404.401123046875,
                        "y": 2294.864013671875,
                        "z": 363.7115478515625
                    },
                    "rotation": {
                        "roll": 0.0024469527415931225,
                        "pitch": 0.6369082927703857,
                        "yaw": -178.78729248046875
                    }
                },
                "velocity": {
                    "x": -8.002945899963379,
                    "y": -0.1672406941652298,
                    "z": 0.08879522234201431
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.004724025726318,
                "transform": {
                    "location": {
                        "x": 2385.21533203125,
                        "y": 2260.584716796875,
                        "z": 363.0988464355469
                    },
                    "rotation": {
                        "roll": 5.337334840760377e-08,
                        "pitch": 1.2401232719421387,
                        "yaw": 90.10179138183594
                    }
                },
                "velocity": {
                    "x": -0.010959059931337833,
                    "y": 6.003324508666992,
                    "z": 0.12918400764465332
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003087225486524403,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -8.135789357766043e-07,
                    "y": -4.033490768051706e-05,
                    "z": -0.00030607523513026536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.129031777381897,
                "transform": {
                    "location": {
                        "x": 2385.57080078125,
                        "y": 2357.12646484375,
                        "z": 365.3405456542969
                    },
                    "rotation": {
                        "roll": -0.0013427917147055268,
                        "pitch": 1.4771580696105957,
                        "yaw": 89.75419616699219
                    }
                },
                "velocity": {
                    "x": -0.00759542640298605,
                    "y": 1.128633737564087,
                    "z": 0.029001187533140182
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.305230617523193,
                "transform": {
                    "location": {
                        "x": 2352.85009765625,
                        "y": 2298.234130859375,
                        "z": 364.1548767089844
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.40942201018333435,
                        "yaw": -0.011383056640625
                    }
                },
                "velocity": {
                    "x": 7.3050408363342285,
                    "y": -0.0014787503750994802,
                    "z": -0.052654583007097244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.033146381378174,
                "transform": {
                    "location": {
                        "x": 2369.01904296875,
                        "y": 2298.2255859375,
                        "z": 364.0289611816406
                    },
                    "rotation": {
                        "roll": -0.0422668419778347,
                        "pitch": -0.4951750338077545,
                        "yaw": -0.07452392578125
                    }
                },
                "velocity": {
                    "x": 7.032079219818115,
                    "y": 0.11045292764902115,
                    "z": -0.05299926549196243
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0006452798843384,
        "expert_target_speed": 10.689535823627256,
        "target_point": [
            7.120165089627395,
            3.576843878541892
        ],
        "target_point_next": [
            34.230519669134445,
            20.577858768986673
        ]
    },
    "100": {
        "acceleration": [
            -8.538360595703125,
            6.5842437744140625,
            -0.2062147855758667
        ],
        "angular_velocity": [
            1.1112297773361206,
            0.2732536494731903,
            56.97876739501953
        ],
        "forward_vector": [
            0.313073068857193,
            0.9493758082389832,
            0.025899134576320648
        ],
        "right_vector": [
            -0.948259174823761,
            0.3109557032585144,
            0.06411769241094589
        ],
        "location": [
            2385.509521484375,
            2306.022705078125,
            364.1224670410156
        ],
        "rotation": [
            -3.6774303913116455,
            1.4840770959854126,
            71.74913787841797
        ],
        "velocity": [
            2.644062042236328,
            10.01326847076416,
            0.23203420639038086
        ],
        "speed": 10.356476695807052,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.6675201675876794,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.965063095092773,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.282470703125,
                2326.796875,
                364.6501770019531
            ],
            "velocity": [
                -0.021596841514110565,
                -5.224806785583496,
                -0.12403492629528046
            ],
            "speed_kmh": 18.814764498926426,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2440.52734375,
                        "y": 2295.71044921875,
                        "z": 363.3514099121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7638199925422668,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": -2.3790654779531906e-08,
                    "y": -4.911123729911537e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7795100212097168,
                "transform": {
                    "location": {
                        "x": 2385.34326171875,
                        "y": 2241.311767578125,
                        "z": 362.70794677734375
                    },
                    "rotation": {
                        "roll": 0.008626401424407959,
                        "pitch": 1.0199998617172241,
                        "yaw": 90.19868469238281
                    }
                },
                "velocity": {
                    "x": -0.029156645759940147,
                    "y": 1.7787449359893799,
                    "z": 0.04326770827174187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9241206645965576,
                "transform": {
                    "location": {
                        "x": 2332.195556640625,
                        "y": 2298.166259765625,
                        "z": 364.1793518066406
                    },
                    "rotation": {
                        "roll": -0.008819580078125,
                        "pitch": 0.4695754945278168,
                        "yaw": 0.32789692282676697
                    }
                },
                "velocity": {
                    "x": 3.9238717555999756,
                    "y": 0.041864197701215744,
                    "z": 0.014135923236608505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.773470878601074,
                "transform": {
                    "location": {
                        "x": 2388.30517578125,
                        "y": 2350.457763671875,
                        "z": 365.1799011230469
                    },
                    "rotation": {
                        "roll": -0.007507469039410353,
                        "pitch": -1.3907767534255981,
                        "yaw": -89.97588348388672
                    }
                },
                "velocity": {
                    "x": 0.01348655205219984,
                    "y": -2.772614002227783,
                    "z": -0.06761030107736588
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07011890411377,
                "transform": {
                    "location": {
                        "x": 2423.119873046875,
                        "y": 2295.259033203125,
                        "z": 363.4912414550781
                    },
                    "rotation": {
                        "roll": 0.006836285348981619,
                        "pitch": 0.7155647277832031,
                        "yaw": -178.70301818847656
                    }
                },
                "velocity": {
                    "x": -8.067492485046387,
                    "y": -0.1808045506477356,
                    "z": 0.09845231473445892
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.22632360458374,
                "transform": {
                    "location": {
                        "x": 2388.282470703125,
                        "y": 2326.796875,
                        "z": 364.6501770019531
                    },
                    "rotation": {
                        "roll": -0.0007935504545457661,
                        "pitch": -1.3934950828552246,
                        "yaw": -90.23815155029297
                    }
                },
                "velocity": {
                    "x": -0.021596841514110565,
                    "y": -5.224806785583496,
                    "z": -0.12403492629528046
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010150909423828,
                "transform": {
                    "location": {
                        "x": 2402.4033203125,
                        "y": 2294.822998046875,
                        "z": 363.7335205078125
                    },
                    "rotation": {
                        "roll": 0.0009697789209894836,
                        "pitch": 0.6383426189422607,
                        "yaw": -178.82156372070312
                    }
                },
                "velocity": {
                    "x": -8.007930755615234,
                    "y": -0.16662830114364624,
                    "z": 0.08831876516342163
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.384827136993408,
                "transform": {
                    "location": {
                        "x": 2385.21240234375,
                        "y": 2262.1826171875,
                        "z": 363.1331481933594
                    },
                    "rotation": {
                        "roll": 0.000758383481297642,
                        "pitch": 1.2453619241714478,
                        "yaw": 90.09855651855469
                    }
                },
                "velocity": {
                    "x": -0.011107862927019596,
                    "y": 6.38332986831665,
                    "z": 0.13783396780490875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000933236675336957,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 1.1698255093506305e-06,
                    "y": -2.4494825993315317e-05,
                    "z": -0.00093291443772614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.63417649269104,
                "transform": {
                    "location": {
                        "x": 2385.569091796875,
                        "y": 2357.4345703125,
                        "z": 365.34820556640625
                    },
                    "rotation": {
                        "roll": 0.001389912562444806,
                        "pitch": 1.4571456909179688,
                        "yaw": 89.7955093383789
                    }
                },
                "velocity": {
                    "x": -0.00895177386701107,
                    "y": 1.6336618661880493,
                    "z": 0.04002157971262932
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.143599033355713,
                "transform": {
                    "location": {
                        "x": 2354.60107421875,
                        "y": 2298.233642578125,
                        "z": 364.1416320800781
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.3507028818130493,
                        "yaw": -0.02496337704360485
                    }
                },
                "velocity": {
                    "x": 6.143426418304443,
                    "y": -0.0028873395640403032,
                    "z": -0.04595765098929405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.019615650177002,
                "transform": {
                    "location": {
                        "x": 2370.73828125,
                        "y": 2298.278076171875,
                        "z": 364.0160827636719
                    },
                    "rotation": {
                        "roll": -0.0818176344037056,
                        "pitch": -0.44625720381736755,
                        "yaw": 1.4876629114151
                    }
                },
                "velocity": {
                    "x": 7.014278411865234,
                    "y": 0.2685506045818329,
                    "z": -0.052766427397727966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7701568007469177,
        "expert_target_speed": 11.243731568533843,
        "target_point": [
            35.77861961977196,
            11.796292756135763
        ],
        "target_point_next": [
            35.77861961977196,
            11.796292756135763
        ]
    },
    "105": {
        "acceleration": [
            -7.881378173828125,
            1.8645858764648438,
            0.050893425941467285
        ],
        "angular_velocity": [
            -0.15222598612308502,
            -2.0240466594696045,
            46.497135162353516
        ],
        "forward_vector": [
            0.09131057560443878,
            0.995435357093811,
            0.027762897312641144
        ],
        "right_vector": [
            -0.9940698742866516,
            0.08946116268634796,
            0.061819493770599365
        ],
        "location": [
            2385.931884765625,
            2308.6396484375,
            364.18194580078125
        ],
        "rotation": [
            -3.5456244945526123,
            1.590901255607605,
            84.75896453857422
        ],
        "velocity": [
            0.5161879062652588,
            10.846138954162598,
            0.24762067198753357
        ],
        "speed": 10.858415177528341,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.553809668296109,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.049612045288086,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.27734375,
                2325.521484375,
                364.6197509765625
            ],
            "velocity": [
                -0.021101070567965508,
                -5.085790157318115,
                -0.1194981038570404
            ],
            "speed_kmh": 18.314055422777543,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2341497391462326,
                "transform": {
                    "location": {
                        "x": 2440.525634765625,
                        "y": 2295.71044921875,
                        "z": 363.20635986328125
                    },
                    "rotation": {
                        "roll": 0.0009678352507762611,
                        "pitch": 0.7683825492858887,
                        "yaw": -178.8174285888672
                    }
                },
                "velocity": {
                    "x": 0.0031330478377640247,
                    "y": 4.269280543667264e-05,
                    "z": 0.23412877321243286
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.086916923522949,
                "transform": {
                    "location": {
                        "x": 2385.334228515625,
                        "y": 2241.947998046875,
                        "z": 362.7206115722656
                    },
                    "rotation": {
                        "roll": 0.00966532714664936,
                        "pitch": 1.0151914358139038,
                        "yaw": 90.40347290039062
                    }
                },
                "velocity": {
                    "x": -0.05142314359545708,
                    "y": 3.085909605026245,
                    "z": 0.05978485941886902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.352939128875732,
                "transform": {
                    "location": {
                        "x": 2333.36474609375,
                        "y": 2298.179443359375,
                        "z": 364.1830139160156
                    },
                    "rotation": {
                        "roll": -0.007049561012536287,
                        "pitch": 0.46002689003944397,
                        "yaw": 0.5229807496070862
                    }
                },
                "velocity": {
                    "x": 5.3525390625,
                    "y": 0.06339069455862045,
                    "z": 0.016291093081235886
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4139161109924316,
                "transform": {
                    "location": {
                        "x": 2388.308349609375,
                        "y": 2349.684326171875,
                        "z": 365.1609191894531
                    },
                    "rotation": {
                        "roll": -0.01055920496582985,
                        "pitch": -1.3873274326324463,
                        "yaw": -89.87779998779297
                    }
                },
                "velocity": {
                    "x": 0.017327329143881798,
                    "y": -3.4128427505493164,
                    "z": -0.08382923156023026
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.959811210632324,
                "transform": {
                    "location": {
                        "x": 2421.1259765625,
                        "y": 2295.21533203125,
                        "z": 363.5157775878906
                    },
                    "rotation": {
                        "roll": 0.004723070655018091,
                        "pitch": 0.6941111087799072,
                        "yaw": -178.7474822998047
                    }
                },
                "velocity": {
                    "x": -7.957289218902588,
                    "y": -0.17450758814811707,
                    "z": 0.09843843430280685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.087237358093262,
                "transform": {
                    "location": {
                        "x": 2388.27734375,
                        "y": 2325.521484375,
                        "z": 364.6197509765625
                    },
                    "rotation": {
                        "roll": 0.00038740638410672545,
                        "pitch": -1.3859273195266724,
                        "yaw": -90.23734283447266
                    }
                },
                "velocity": {
                    "x": -0.021101070567965508,
                    "y": -5.085790157318115,
                    "z": -0.1194981038570404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.043417930603027,
                "transform": {
                    "location": {
                        "x": 2400.39453125,
                        "y": 2294.781982421875,
                        "z": 363.7552185058594
                    },
                    "rotation": {
                        "roll": -0.0002136224356945604,
                        "pitch": 0.6448654532432556,
                        "yaw": -178.79481506347656
                    }
                },
                "velocity": {
                    "x": -8.041202545166016,
                    "y": -0.1671893298625946,
                    "z": 0.08760695904493332
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.574223518371582,
                "transform": {
                    "location": {
                        "x": 2385.209716796875,
                        "y": 2263.674072265625,
                        "z": 363.1656799316406
                    },
                    "rotation": {
                        "roll": 0.0008838029461912811,
                        "pitch": 1.2207528352737427,
                        "yaw": 90.09461975097656
                    }
                },
                "velocity": {
                    "x": -0.009574249386787415,
                    "y": 5.572910785675049,
                    "z": 0.12058282643556595
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004640056868083775,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -7.315892617043573e-06,
                    "y": -3.623247175710276e-05,
                    "z": -0.00046253102482296526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.910371780395508,
                "transform": {
                    "location": {
                        "x": 2385.568115234375,
                        "y": 2357.989501953125,
                        "z": 365.36163330078125
                    },
                    "rotation": {
                        "roll": 0.006557096727192402,
                        "pitch": 1.50102961063385,
                        "yaw": 90.06751251220703
                    }
                },
                "velocity": {
                    "x": -0.01900285854935646,
                    "y": 2.909430503845215,
                    "z": 0.07153859734535217
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.502170085906982,
                "transform": {
                    "location": {
                        "x": 2356.017822265625,
                        "y": 2298.233642578125,
                        "z": 364.13079833984375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.3459763824939728,
                        "yaw": -0.0253906287252903
                    }
                },
                "velocity": {
                    "x": 5.502016067504883,
                    "y": -0.0024570992682129145,
                    "z": -0.041079189628362656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.919358730316162,
                "transform": {
                    "location": {
                        "x": 2372.624755859375,
                        "y": 2298.364013671875,
                        "z": 364.0021057128906
                    },
                    "rotation": {
                        "roll": -0.0722350925207138,
                        "pitch": -0.32989129424095154,
                        "yaw": 2.507936954498291
                    }
                },
                "velocity": {
                    "x": 7.909336566925049,
                    "y": 0.39401644468307495,
                    "z": -0.05817596614360809
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5358623266220093,
        "expert_target_speed": 11.6729340906472,
        "target_point": [
            34.871211412175185,
            3.6206313366976928
        ],
        "target_point_next": [
            34.871211412175185,
            3.6206313366976928
        ]
    },
    "110": {
        "acceleration": [
            -5.009958744049072,
            -0.3101158142089844,
            -0.004547834396362305
        ],
        "angular_velocity": [
            -0.34996673464775085,
            -3.8523738384246826,
            29.21600341796875
        ],
        "forward_vector": [
            -0.07215335965156555,
            0.9970588088035583,
            0.025840027257800102
        ],
        "right_vector": [
            -0.9961719512939453,
            -0.07332266867160797,
            0.04759513586759567
        ],
        "location": [
            2385.88232421875,
            2311.36474609375,
            364.245849609375
        ],
        "rotation": [
            -2.72894287109375,
            1.480689287185669,
            94.1390609741211
        ],
        "velocity": [
            -1.0505149364471436,
            10.9263277053833,
            0.25955507159233093
        ],
        "speed": 10.976712566024732,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5007299587863807,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.227987289428711,
        "front_vehicle_info": {
            "id": 4416,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2388.2724609375,
                2324.370361328125,
                364.593505859375
            ],
            "velocity": [
                -0.015336054377257824,
                -3.2649824619293213,
                -0.07953266054391861
            ],
            "speed_kmh": 11.757553217192168,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.09659398347139359,
                "transform": {
                    "location": {
                        "x": 2440.526611328125,
                        "y": 2295.71044921875,
                        "z": 363.25482177734375
                    },
                    "rotation": {
                        "roll": 9.272948955185711e-05,
                        "pitch": 0.76860111951828,
                        "yaw": -178.81736755371094
                    }
                },
                "velocity": {
                    "x": 0.0013065908569842577,
                    "y": 1.4163213563733734e-05,
                    "z": 0.09658514708280563
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.1814141273498535,
                "transform": {
                    "location": {
                        "x": 2385.32080078125,
                        "y": 2242.85986328125,
                        "z": 362.73858642578125
                    },
                    "rotation": {
                        "roll": 0.011532064527273178,
                        "pitch": 1.0559403896331787,
                        "yaw": 90.5984115600586
                    }
                },
                "velocity": {
                    "x": -0.06991201639175415,
                    "y": 4.1799397468566895,
                    "z": 0.08624084293842316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.091225624084473,
                "transform": {
                    "location": {
                        "x": 2334.77197265625,
                        "y": 2298.192138671875,
                        "z": 364.18670654296875
                    },
                    "rotation": {
                        "roll": 0.007345274556428194,
                        "pitch": 0.35557278990745544,
                        "yaw": 0.687589168548584
                    }
                },
                "velocity": {
                    "x": 6.091005802154541,
                    "y": 0.04957936331629753,
                    "z": 0.014828290790319443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.259952068328857,
                "transform": {
                    "location": {
                        "x": 2388.3125,
                        "y": 2348.725341796875,
                        "z": 365.1373596191406
                    },
                    "rotation": {
                        "roll": -0.011810249648988247,
                        "pitch": -1.37771737575531,
                        "yaw": -89.79693603515625
                    }
                },
                "velocity": {
                    "x": 0.022791588678956032,
                    "y": -4.258598327636719,
                    "z": -0.10493508726358414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0858736038208,
                "transform": {
                    "location": {
                        "x": 2419.11767578125,
                        "y": 2295.172119140625,
                        "z": 363.54046630859375
                    },
                    "rotation": {
                        "roll": 0.004912516102194786,
                        "pitch": 0.727073609828949,
                        "yaw": -178.74957275390625
                    }
                },
                "velocity": {
                    "x": -8.083394050598145,
                    "y": -0.17352314293384552,
                    "z": 0.0998419001698494
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2659871578216553,
                "transform": {
                    "location": {
                        "x": 2388.2724609375,
                        "y": 2324.370361328125,
                        "z": 364.593505859375
                    },
                    "rotation": {
                        "roll": 0.00017860843217931688,
                        "pitch": -1.5221211910247803,
                        "yaw": -90.2401123046875
                    }
                },
                "velocity": {
                    "x": -0.015336054377257824,
                    "y": -3.2649824619293213,
                    "z": -0.07953266054391861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.008743286132812,
                "transform": {
                    "location": {
                        "x": 2398.3896484375,
                        "y": 2294.74072265625,
                        "z": 363.7765197753906
                    },
                    "rotation": {
                        "roll": -0.007904051803052425,
                        "pitch": 0.596111536026001,
                        "yaw": -178.83792114257812
                    }
                },
                "velocity": {
                    "x": -8.006673812866211,
                    "y": -0.1620170921087265,
                    "z": 0.08302959054708481
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4414,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.304138660430908,
                "transform": {
                    "location": {
                        "x": 2385.207763671875,
                        "y": 2265.012451171875,
                        "z": 363.1945495605469
                    },
                    "rotation": {
                        "roll": 0.0015158538008108735,
                        "pitch": 1.2353421449661255,
                        "yaw": 90.09123229980469
                    }
                },
                "velocity": {
                    "x": -0.008474765345454216,
                    "y": 5.3028764724731445,
                    "z": 0.11538734287023544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4302971363067627,
                "transform": {
                    "location": {
                        "x": 2385.478515625,
                        "y": 2347.413330078125,
                        "z": 365.10693359375
                    },
                    "rotation": {
                        "roll": 0.01431278046220541,
                        "pitch": 1.4101675748825073,
                        "yaw": 90.30533599853516
                    }
                },
                "velocity": {
                    "x": 0.0003287095751147717,
                    "y": 0.4301772117614746,
                    "z": 0.01015311200171709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.121025085449219,
                "transform": {
                    "location": {
                        "x": 2385.56396484375,
                        "y": 2358.91162109375,
                        "z": 365.3844909667969
                    },
                    "rotation": {
                        "roll": 0.012203878723084927,
                        "pitch": 1.5129072666168213,
                        "yaw": 90.23779296875
                    }
                },
                "velocity": {
                    "x": -0.019142312929034233,
                    "y": 4.119699001312256,
                    "z": 0.10276404768228531
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.995419979095459,
                "transform": {
                    "location": {
                        "x": 2357.43408203125,
                        "y": 2298.2333984375,
                        "z": 364.12109375
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.4644528329372406,
                        "yaw": -0.0546569749712944
                    }
                },
                "velocity": {
                    "x": 5.995247840881348,
                    "y": -0.0030997898429632187,
                    "z": -0.04528522863984108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4410,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.44005823135376,
                "transform": {
                    "location": {
                        "x": 2374.55859375,
                        "y": 2298.51611328125,
                        "z": 363.98748779296875
                    },
                    "rotation": {
                        "roll": -0.3125915825366974,
                        "pitch": -0.4538523852825165,
                        "yaw": 5.135660171508789
                    }
                },
                "velocity": {
                    "x": 7.376512050628662,
                    "y": 0.9686848521232605,
                    "z": -0.056431371718645096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10394294559955597,
        "expert_target_speed": 11.75362648191,
        "target_point": [
            32.27347665346712,
            -1.963962911486889
        ],
        "target_point_next": [
            32.27347665346712,
            -1.963962911486889
        ]
    },
    "115": {
        "acceleration": [
            0.8290338516235352,
            -1.1678886413574219,
            -0.02660393714904785
        ],
        "angular_velocity": [
            0.4304942190647125,
            -6.283889293670654,
            1.5338765382766724
        ],
        "forward_vector": [
            -0.14061865210533142,
            0.9897874593734741,
            0.023391852155327797
        ],
        "right_vector": [
            -0.9897000789642334,
            -0.14116810262203217,
            0.023774338886141777
        ],
        "location": [
            2385.56396484375,
            2314.070556640625,
            364.3101806640625
        ],
        "rotation": [
            -1.362670660018921,
            1.3403767347335815,
            98.08587646484375
        ],
        "velocity": [
            -1.4574499130249023,
            10.695405006408691,
            0.25479361414909363
        ],
        "speed": 10.794250715083859,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 33.55241012573242,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.478271484375,
                2347.61328125,
                365.11175537109375
            ],
            "velocity": [
                -0.0019484178628772497,
                1.137212872505188,
                0.02827179804444313
            ],
            "speed_kmh": 4.095237289757069,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2725348472595215,
                "transform": {
                    "location": {
                        "x": 2388.318359375,
                        "y": 2347.53125,
                        "z": 365.108154296875
                    },
                    "rotation": {
                        "roll": -0.012084880843758583,
                        "pitch": -1.369227409362793,
                        "yaw": -89.73784637451172
                    }
                },
                "velocity": {
                    "x": 0.029195619747042656,
                    "y": -5.270925045013428,
                    "z": -0.12696166336536407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.791975736618042,
                "transform": {
                    "location": {
                        "x": 2388.268798828125,
                        "y": 2323.51953125,
                        "z": 364.572265625
                    },
                    "rotation": {
                        "roll": -0.000488288642372936,
                        "pitch": -1.38946533203125,
                        "yaw": -90.24256134033203
                    }
                },
                "velocity": {
                    "x": -0.017775975167751312,
                    "y": -3.7908830642700195,
                    "z": -0.08927155286073685
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1375658512115479,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.61328125,
                        "z": 365.11175537109375
                    },
                    "rotation": {
                        "roll": 0.014376021921634674,
                        "pitch": 1.4171959161758423,
                        "yaw": 90.31097412109375
                    }
                },
                "velocity": {
                    "x": -0.0019484178628772497,
                    "y": 1.137212872505188,
                    "z": 0.02827179804444313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.481432914733887,
                "transform": {
                    "location": {
                        "x": 2385.55810546875,
                        "y": 2360.140625,
                        "z": 365.4150695800781
                    },
                    "rotation": {
                        "roll": 0.015016603283584118,
                        "pitch": 1.5205776691436768,
                        "yaw": 90.41069793701172
                    }
                },
                "velocity": {
                    "x": -0.0341649055480957,
                    "y": 5.479617118835449,
                    "z": 0.13688592612743378
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2201399803161621,
        "expert_target_speed": 11.636957401970497,
        "target_point": [
            29.33806695393174,
            -4.115294333649313
        ],
        "target_point_next": [
            29.33806695393174,
            -4.115294333649313
        ]
    },
    "120": {
        "acceleration": [
            3.7302112579345703,
            -1.5417861938476562,
            -0.03182530403137207
        ],
        "angular_velocity": [
            0.17030149698257446,
            -4.406375885009766,
            -21.094425201416016
        ],
        "forward_vector": [
            -0.08487211912870407,
            0.9961490631103516,
            0.02199627459049225
        ],
        "right_vector": [
            -0.9963914752006531,
            -0.08483182638883591,
            -0.0027604084461927414
        ],
        "location": [
            2385.297119140625,
            2316.703125,
            364.3726806640625
        ],
        "rotation": [
            0.15819822251796722,
            1.2603952884674072,
            94.8698501586914
        ],
        "velocity": [
            -0.6506950259208679,
            10.36093807220459,
            0.24543416500091553
        ],
        "speed": 10.381350670929901,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.29047203063965,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.477783203125,
                2347.984130859375,
                365.1208190917969
            ],
            "velocity": [
                -0.0019268289906904101,
                1.8203860521316528,
                0.04407990351319313
            ],
            "speed_kmh": 6.55531445443273,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.556790351867676,
                "transform": {
                    "location": {
                        "x": 2388.32568359375,
                        "y": 2346.194580078125,
                        "z": 365.07568359375
                    },
                    "rotation": {
                        "roll": -0.014312691986560822,
                        "pitch": -1.3869858980178833,
                        "yaw": -89.73140716552734
                    }
                },
                "velocity": {
                    "x": 0.021530622616410255,
                    "y": -5.555093288421631,
                    "z": -0.13562458753585815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.861493110656738,
                "transform": {
                    "location": {
                        "x": 2388.263671875,
                        "y": 2322.41259765625,
                        "z": 364.5450744628906
                    },
                    "rotation": {
                        "roll": -0.0001525960979051888,
                        "pitch": -1.2690080404281616,
                        "yaw": -90.24700927734375
                    }
                },
                "velocity": {
                    "x": -0.022455081343650818,
                    "y": -4.860085487365723,
                    "z": -0.11480794847011566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.820920705795288,
                "transform": {
                    "location": {
                        "x": 2385.477783203125,
                        "y": 2347.984130859375,
                        "z": 365.1208190917969
                    },
                    "rotation": {
                        "roll": 0.012956833466887474,
                        "pitch": 1.4178993701934814,
                        "yaw": 90.26770782470703
                    }
                },
                "velocity": {
                    "x": -0.0019268289906904101,
                    "y": 1.8203860521316528,
                    "z": 0.04407990351319313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.330966472625732,
                "transform": {
                    "location": {
                        "x": 2385.5478515625,
                        "y": 2361.6689453125,
                        "z": 365.452880859375
                    },
                    "rotation": {
                        "roll": 0.014302368275821209,
                        "pitch": 1.5661554336547852,
                        "yaw": 90.35115051269531
                    }
                },
                "velocity": {
                    "x": -0.044182371348142624,
                    "y": 7.328564167022705,
                    "z": 0.18239140510559082
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18024411797523499,
        "expert_target_speed": 11.237870479968132,
        "target_point": [
            26.877016655346225,
            -2.5053092687861263
        ],
        "target_point_next": [
            26.877016655346225,
            -2.5053092687861263
        ]
    },
    "125": {
        "acceleration": [
            3.4699878692626953,
            -1.3854789733886719,
            -0.04480540752410889
        ],
        "angular_velocity": [
            -0.013265907764434814,
            -1.3109239339828491,
            -20.78856658935547
        ],
        "forward_vector": [
            0.00949026457965374,
            0.9997247457504272,
            0.021454235538840294
        ],
        "right_vector": [
            -0.9998409152030945,
            0.009810985997319221,
            -0.014893587678670883
        ],
        "location": [
            2385.247802734375,
            2319.239990234375,
            364.43267822265625
        ],
        "rotation": [
            0.8535677790641785,
            1.2293314933776855,
            89.45611572265625
        ],
        "velocity": [
            0.30089643597602844,
            9.971522331237793,
            0.23506897687911987
        ],
        "speed": 9.976061159974766,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.278329849243164,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4765625,
                2348.509033203125,
                365.13372802734375
            ],
            "velocity": [
                -0.0018553496338427067,
                2.128490924835205,
                0.052446622401475906
            ],
            "speed_kmh": 7.664896026096974,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.721006870269775,
                "transform": {
                    "location": {
                        "x": 2388.32958984375,
                        "y": 2344.650146484375,
                        "z": 365.0378112792969
                    },
                    "rotation": {
                        "roll": -0.007659933529794216,
                        "pitch": -1.3641594648361206,
                        "yaw": -89.81396484375
                    }
                },
                "velocity": {
                    "x": 0.007866122759878635,
                    "y": -6.718997478485107,
                    "z": -0.16415943205356598
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.052265167236328,
                "transform": {
                    "location": {
                        "x": 2388.2587890625,
                        "y": 2321.304931640625,
                        "z": 364.51995849609375
                    },
                    "rotation": {
                        "roll": -0.001068228273652494,
                        "pitch": -1.3971151113510132,
                        "yaw": -90.24725341796875
                    }
                },
                "velocity": {
                    "x": -0.0175072830170393,
                    "y": -4.051082134246826,
                    "z": -0.09632573276758194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1291377544403076,
                "transform": {
                    "location": {
                        "x": 2385.4765625,
                        "y": 2348.509033203125,
                        "z": 365.13372802734375
                    },
                    "rotation": {
                        "roll": 0.011040627025067806,
                        "pitch": 1.4138286113739014,
                        "yaw": 90.20450592041016
                    }
                },
                "velocity": {
                    "x": -0.0018553496338427067,
                    "y": 2.128490924835205,
                    "z": 0.052446622401475906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.357976913452148,
                "transform": {
                    "location": {
                        "x": 2385.541259765625,
                        "y": 2363.670654296875,
                        "z": 365.5032043457031
                    },
                    "rotation": {
                        "roll": 0.016256680712103844,
                        "pitch": 1.5298597812652588,
                        "yaw": 90.16170501708984
                    }
                },
                "velocity": {
                    "x": -0.0064581213518977165,
                    "y": 8.355338096618652,
                    "z": 0.20990577340126038
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.017053093761205673,
        "expert_target_speed": 10.837386652347023,
        "target_point": [
            24.457213740649905,
            -0.03189376289295723
        ],
        "target_point_next": [
            24.457213740649905,
            -0.03189376289295723
        ]
    },
    "130": {
        "acceleration": [
            0.32694339752197266,
            -0.72052001953125,
            -0.006629228591918945
        ],
        "angular_velocity": [
            0.2895411252975464,
            2.0562007427215576,
            -5.353445529937744
        ],
        "forward_vector": [
            0.06833139806985855,
            0.997421383857727,
            0.021938351914286613
        ],
        "right_vector": [
            -0.9975852966308594,
            0.06858338415622711,
            -0.01094601210206747
        ],
        "location": [
            2385.374755859375,
            2321.69970703125,
            364.49066162109375
        ],
        "rotation": [
            0.6273238062858582,
            1.2570757865905762,
            86.08090209960938
        ],
        "velocity": [
            0.6816045045852661,
            9.739157676696777,
            0.23130978643894196
        ],
        "speed": 9.762979921736637,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.38477897644043,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.475830078125,
                2349.076416015625,
                365.1477355957031
            ],
            "velocity": [
                -0.0020232030656188726,
                2.51057767868042,
                0.06147484481334686
            ],
            "speed_kmh": 9.040791699644812,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.553410530090332,
                "transform": {
                    "location": {
                        "x": 2388.33203125,
                        "y": 2342.83740234375,
                        "z": 364.99371337890625
                    },
                    "rotation": {
                        "roll": -0.00689690699800849,
                        "pitch": -1.3584016561508179,
                        "yaw": -89.93724060058594
                    }
                },
                "velocity": {
                    "x": 0.0024816489312797785,
                    "y": -7.551144123077393,
                    "z": -0.18499548733234406
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.113600254058838,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2320.2822265625,
                        "z": 364.49554443359375
                    },
                    "rotation": {
                        "roll": -0.0005797707126475871,
                        "pitch": -1.3677316904067993,
                        "yaw": -90.25359344482422
                    }
                },
                "velocity": {
                    "x": -0.01822459138929844,
                    "y": -4.112427711486816,
                    "z": -0.09650836139917374
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.511331081390381,
                "transform": {
                    "location": {
                        "x": 2385.475830078125,
                        "y": 2349.076416015625,
                        "z": 365.1477355957031
                    },
                    "rotation": {
                        "roll": 0.011138573288917542,
                        "pitch": 1.4137943983078003,
                        "yaw": 90.16770935058594
                    }
                },
                "velocity": {
                    "x": -0.0020232030656188726,
                    "y": 2.51057767868042,
                    "z": 0.06147484481334686
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.955044269561768,
                "transform": {
                    "location": {
                        "x": 2385.53955078125,
                        "y": 2365.713623046875,
                        "z": 365.5549621582031
                    },
                    "rotation": {
                        "roll": 0.008849650621414185,
                        "pitch": 1.4401589632034302,
                        "yaw": 90.02572631835938
                    }
                },
                "velocity": {
                    "x": 2.1345922505133785e-05,
                    "y": 7.95253849029541,
                    "z": 0.1996520310640335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19209608435630798,
        "expert_target_speed": 10.61217681468245,
        "target_point": [
            21.954019014581444,
            1.3667290146893976
        ],
        "target_point_next": [
            21.954019014581444,
            1.3667290146893976
        ]
    },
    "135": {
        "acceleration": [
            0.45940518379211426,
            -0.15169143676757812,
            0.004341006278991699
        ],
        "angular_velocity": [
            0.3240399658679962,
            0.9057644605636597,
            -2.343559741973877
        ],
        "forward_vector": [
            0.08090830594301224,
            0.9964624643325806,
            0.022724460810422897
        ],
        "right_vector": [
            -0.9966954588890076,
            0.08105006814002991,
            -0.005386761389672756
        ],
        "location": [
            2385.557373046875,
            2324.116455078125,
            364.5476989746094
        ],
        "rotation": [
            0.3087199032306671,
            1.302127718925476,
            85.35802459716797
        ],
        "velocity": [
            0.8189148306846619,
            9.623353004455566,
            0.22845658659934998
        ],
        "speed": 9.65813359548724,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.685047149658203,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.474609375,
                2349.7939453125,
                365.16522216796875
            ],
            "velocity": [
                -0.002033834345638752,
                3.209402084350586,
                0.07846080511808395
            ],
            "speed_kmh": 11.557301967846444,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.718803405761719,
                "transform": {
                    "location": {
                        "x": 2388.33251953125,
                        "y": 2340.76953125,
                        "z": 364.9433898925781
                    },
                    "rotation": {
                        "roll": -0.00363163067959249,
                        "pitch": -1.352684736251831,
                        "yaw": -90.03734588623047
                    }
                },
                "velocity": {
                    "x": -0.009986868128180504,
                    "y": -8.716225624084473,
                    "z": -0.21176524460315704
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.7758936882019043,
                "transform": {
                    "location": {
                        "x": 2388.249755859375,
                        "y": 2319.316162109375,
                        "z": 364.47283935546875
                    },
                    "rotation": {
                        "roll": 3.8110876630526036e-05,
                        "pitch": -1.3909611701965332,
                        "yaw": -90.25776672363281
                    }
                },
                "velocity": {
                    "x": -0.018132226541638374,
                    "y": -3.7748003005981445,
                    "z": -0.08903399854898453
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2103614807128906,
                "transform": {
                    "location": {
                        "x": 2385.474609375,
                        "y": 2349.7939453125,
                        "z": 365.16522216796875
                    },
                    "rotation": {
                        "roll": 0.009936939924955368,
                        "pitch": 1.4244085550308228,
                        "yaw": 90.11800384521484
                    }
                },
                "velocity": {
                    "x": -0.002033834345638752,
                    "y": 3.209402084350586,
                    "z": 0.07846080511808395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9707183837890625,
                "transform": {
                    "location": {
                        "x": 2385.540283203125,
                        "y": 2367.68408203125,
                        "z": 365.6044006347656
                    },
                    "rotation": {
                        "roll": 0.009365826845169067,
                        "pitch": 1.4434715509414673,
                        "yaw": 89.96173858642578
                    }
                },
                "velocity": {
                    "x": 0.015627853572368622,
                    "y": 7.968198299407959,
                    "z": 0.19980978965759277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2808157801628113,
        "expert_target_speed": 10.49439704768513,
        "target_point": [
            19.51142611147491,
            1.6300655121060383
        ],
        "target_point_next": [
            19.51142611147491,
            1.6300655121060383
        ]
    },
    "140": {
        "acceleration": [
            -0.9482717514038086,
            0.245819091796875,
            -0.015580058097839355
        ],
        "angular_velocity": [
            0.29598337411880493,
            1.166649341583252,
            5.438615322113037
        ],
        "forward_vector": [
            0.07101844996213913,
            0.9971933960914612,
            0.023700758814811707
        ],
        "right_vector": [
            -0.9974750280380249,
            0.07099717110395432,
            0.0017390872817486525
        ],
        "location": [
            2385.737060546875,
            2326.5244140625,
            364.6046447753906
        ],
        "rotation": [
            -0.0996704176068306,
            1.3580806255340576,
            85.9263687133789
        ],
        "velocity": [
            0.6120043992996216,
            9.645879745483398,
            0.22818177938461304
        ],
        "speed": 9.665275239179119,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.17227554321289,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4736328125,
                2350.688232421875,
                365.1871643066406
            ],
            "velocity": [
                -0.001712972647510469,
                3.913119077682495,
                0.09644544124603271
            ],
            "speed_kmh": 14.091508089378344,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.954151630401611,
                "transform": {
                    "location": {
                        "x": 2388.32958984375,
                        "y": 2338.679931640625,
                        "z": 364.8933410644531
                    },
                    "rotation": {
                        "roll": -0.002685653045773506,
                        "pitch": -1.4001408815383911,
                        "yaw": -90.13896942138672
                    }
                },
                "velocity": {
                    "x": -0.01880279928445816,
                    "y": -7.951817989349365,
                    "z": -0.19174742698669434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6023764610290527,
                "transform": {
                    "location": {
                        "x": 2388.245361328125,
                        "y": 2318.372802734375,
                        "z": 364.4505310058594
                    },
                    "rotation": {
                        "roll": 3.2185947929974645e-05,
                        "pitch": -1.3814330101013184,
                        "yaw": -90.25988006591797
                    }
                },
                "velocity": {
                    "x": -0.01634995825588703,
                    "y": -3.601323127746582,
                    "z": -0.08555982261896133
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9143078327178955,
                "transform": {
                    "location": {
                        "x": 2385.4736328125,
                        "y": 2350.688232421875,
                        "z": 365.1871643066406
                    },
                    "rotation": {
                        "roll": 0.008016170933842659,
                        "pitch": 1.428773045539856,
                        "yaw": 90.08535766601562
                    }
                },
                "velocity": {
                    "x": -0.001712972647510469,
                    "y": 3.913119077682495,
                    "z": 0.09644544124603271
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.136089324951172,
                "transform": {
                    "location": {
                        "x": 2385.54443359375,
                        "y": 2369.711181640625,
                        "z": 365.65521240234375
                    },
                    "rotation": {
                        "roll": 0.004990515299141407,
                        "pitch": 1.449004054069519,
                        "yaw": 89.87625885009766
                    }
                },
                "velocity": {
                    "x": 0.021094050258398056,
                    "y": 8.133475303649902,
                    "z": 0.20514100790023804
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34210824966430664,
        "expert_target_speed": 10.479736896501377,
        "target_point": [
            17.11199709718843,
            1.4445954852821434
        ],
        "target_point_next": [
            17.11199709718843,
            1.4445954852821434
        ]
    },
    "145": {
        "acceleration": [
            -0.39631009101867676,
            1.5283584594726562,
            0.04032224416732788
        ],
        "angular_velocity": [
            0.47424668073654175,
            0.07949618250131607,
            2.851017951965332
        ],
        "forward_vector": [
            0.05395452678203583,
            0.9982267618179321,
            0.025146454572677612
        ],
        "right_vector": [
            -0.9985416531562805,
            0.05388994142413139,
            0.0032395038288086653
        ],
        "location": [
            2385.878662109375,
            2328.9619140625,
            364.66229248046875
        ],
        "rotation": [
            -0.1856689304113388,
            1.4409376382827759,
            86.9061508178711
        ],
        "velocity": [
            0.510009229183197,
            9.895126342773438,
            0.23557862639427185
        ],
        "speed": 9.908260934861419,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.805191040039062,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.47314453125,
                2351.7568359375,
                365.2135009765625
            ],
            "velocity": [
                -0.0024443224538117647,
                4.613900184631348,
                0.11360452324151993
            ],
            "speed_kmh": 16.61507718654839,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4423,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.458629131317139,
                "transform": {
                    "location": {
                        "x": 2385.3701171875,
                        "y": 2312.705810546875,
                        "z": 364.4763488769531
                    },
                    "rotation": {
                        "roll": -5.337577135833271e-08,
                        "pitch": 1.3549318313598633,
                        "yaw": 89.7375717163086
                    }
                },
                "velocity": {
                    "x": 0.018550729379057884,
                    "y": 4.0501580238342285,
                    "z": -1.8642022609710693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.378039360046387,
                "transform": {
                    "location": {
                        "x": 2388.32470703125,
                        "y": 2336.786376953125,
                        "z": 364.8476867675781
                    },
                    "rotation": {
                        "roll": -0.0014647665666416287,
                        "pitch": -1.4015820026397705,
                        "yaw": -90.19598388671875
                    }
                },
                "velocity": {
                    "x": -0.023855021223425865,
                    "y": -7.375868320465088,
                    "z": -0.1773701012134552
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.5733933448791504,
                "transform": {
                    "location": {
                        "x": 2388.241455078125,
                        "y": 2317.490234375,
                        "z": 364.4294738769531
                    },
                    "rotation": {
                        "roll": 0.0012721132952719927,
                        "pitch": -1.370818853378296,
                        "yaw": -90.25830078125
                    }
                },
                "velocity": {
                    "x": -0.014857913367450237,
                    "y": -3.57236909866333,
                    "z": -0.0842493399977684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.615299224853516,
                "transform": {
                    "location": {
                        "x": 2385.47314453125,
                        "y": 2351.7568359375,
                        "z": 365.2135009765625
                    },
                    "rotation": {
                        "roll": 0.006739919539541006,
                        "pitch": 1.4296541213989258,
                        "yaw": 90.05673217773438
                    }
                },
                "velocity": {
                    "x": -0.0024443224538117647,
                    "y": 4.613900184631348,
                    "z": 0.11360452324151993
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9428019523620605,
                "transform": {
                    "location": {
                        "x": 2385.549560546875,
                        "y": 2371.715087890625,
                        "z": 365.7054138183594
                    },
                    "rotation": {
                        "roll": 0.0030790783930569887,
                        "pitch": 1.4292306900024414,
                        "yaw": 89.84672546386719
                    }
                },
                "velocity": {
                    "x": 0.01972915790975094,
                    "y": 7.940334796905518,
                    "z": 0.19697971642017365
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.37714165449142456,
        "expert_target_speed": 10.677034181004561,
        "target_point": [
            14.692606220338416,
            1.16163149235031
        ],
        "target_point_next": [
            14.692606220338416,
            1.16163149235031
        ]
    },
    "150": {
        "acceleration": [
            -0.4765951633453369,
            2.1727943420410156,
            0.06572127342224121
        ],
        "angular_velocity": [
            0.3630117177963257,
            0.06457500159740448,
            2.8619728088378906
        ],
        "forward_vector": [
            0.04152191802859306,
            0.9987691044807434,
            0.02713335119187832
        ],
        "right_vector": [
            -0.999133825302124,
            0.0414314866065979,
            0.003886774880811572
        ],
        "location": [
            2385.9931640625,
            2331.498046875,
            364.7223815917969
        ],
        "rotation": [
            -0.22277837991714478,
            1.5548173189163208,
            87.6194076538086
        ],
        "velocity": [
            0.3953593075275421,
            10.389391899108887,
            0.2482890486717224
        ],
        "speed": 10.396911705661351,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.51723289489746,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.474365234375,
                2353.002685546875,
                365.2445373535156
            ],
            "velocity": [
                0.010585385374724865,
                5.22294282913208,
                0.12880462408065796
            ],
            "speed_kmh": 18.808349604211315,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4423,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8294739723205566,
                "transform": {
                    "location": {
                        "x": 2385.36865234375,
                        "y": 2313.68408203125,
                        "z": 364.24139404296875
                    },
                    "rotation": {
                        "roll": -0.0272825974971056,
                        "pitch": 1.3306573629379272,
                        "yaw": 89.9482192993164
                    }
                },
                "velocity": {
                    "x": -0.02163313515484333,
                    "y": 3.8286006450653076,
                    "z": 0.07885881513357162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.926838397979736,
                "transform": {
                    "location": {
                        "x": 2388.319091796875,
                        "y": 2335.173095703125,
                        "z": 364.80908203125
                    },
                    "rotation": {
                        "roll": -0.0005492523778229952,
                        "pitch": -1.4224209785461426,
                        "yaw": -90.22393035888672
                    }
                },
                "velocity": {
                    "x": -0.022985093295574188,
                    "y": -5.925102233886719,
                    "z": -0.1415954828262329
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2359838485717773,
                "transform": {
                    "location": {
                        "x": 2388.237548828125,
                        "y": 2316.642333984375,
                        "z": 364.40960693359375
                    },
                    "rotation": {
                        "roll": 0.00015746070130262524,
                        "pitch": -1.3879354000091553,
                        "yaw": -90.25829315185547
                    }
                },
                "velocity": {
                    "x": -0.013471241109073162,
                    "y": -3.235072135925293,
                    "z": -0.075625479221344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.224541664123535,
                "transform": {
                    "location": {
                        "x": 2385.474365234375,
                        "y": 2353.002685546875,
                        "z": 365.2445373535156
                    },
                    "rotation": {
                        "roll": 0.006682532373815775,
                        "pitch": 1.4275572299957275,
                        "yaw": 89.97456359863281
                    }
                },
                "velocity": {
                    "x": 0.010585385374724865,
                    "y": 5.22294282913208,
                    "z": 0.12880462408065796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.812549114227295,
                "transform": {
                    "location": {
                        "x": 2385.555908203125,
                        "y": 2373.693603515625,
                        "z": 365.7547302246094
                    },
                    "rotation": {
                        "roll": 0.0021237125620245934,
                        "pitch": 1.4114995002746582,
                        "yaw": 89.80484771728516
                    }
                },
                "velocity": {
                    "x": 0.028891904279589653,
                    "y": 7.810092449188232,
                    "z": 0.19376061856746674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3980746269226074,
        "expert_target_speed": 11.081415040854372,
        "target_point": [
            12.167227935999096,
            0.9877015236439626
        ],
        "target_point_next": [
            12.167227935999096,
            0.9877015236439626
        ]
    },
    "155": {
        "acceleration": [
            -0.592581033706665,
            2.2998619079589844,
            0.05207479000091553
        ],
        "angular_velocity": [
            0.2080070972442627,
            0.07260645180940628,
            3.672833204269409
        ],
        "forward_vector": [
            0.02703678235411644,
            0.9992332458496094,
            0.028316525742411613
        ],
        "right_vector": [
            -0.9996284246444702,
            0.0269271619617939,
            0.004245492164045572
        ],
        "location": [
            2386.0771484375,
            2334.1689453125,
            364.7861328125
        ],
        "rotation": [
            -0.24334710836410522,
            1.6226342916488647,
            88.4500961303711
        ],
        "velocity": [
            0.2559124231338501,
            10.954891204833984,
            0.2633074223995209
        ],
        "speed": 10.957879926247742,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 20.22022819519043,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.476806640625,
                2354.374267578125,
                365.27825927734375
            ],
            "velocity": [
                0.012663822621107101,
                5.974146366119385,
                0.1472068876028061
            ],
            "speed_kmh": 21.51350332628235,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4423,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5301873683929443,
                "transform": {
                    "location": {
                        "x": 2385.363525390625,
                        "y": 2314.62255859375,
                        "z": 364.29443359375
                    },
                    "rotation": {
                        "roll": -0.0065307230688631535,
                        "pitch": 1.2877979278564453,
                        "yaw": 90.13375091552734
                    }
                },
                "velocity": {
                    "x": -0.0233917236328125,
                    "y": 3.5238447189331055,
                    "z": 0.21022436022758484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4419,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.010036468505859,
                "transform": {
                    "location": {
                        "x": 2388.3134765625,
                        "y": 2333.705322265625,
                        "z": 364.77349853515625
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -1.3799713850021362,
                        "yaw": -90.2400131225586
                    }
                },
                "velocity": {
                    "x": -0.02519817091524601,
                    "y": -6.008273124694824,
                    "z": -0.14338353276252747
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4416,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.822577476501465,
                "transform": {
                    "location": {
                        "x": 2388.255859375,
                        "y": 2315.765625,
                        "z": 364.3883056640625
                    },
                    "rotation": {
                        "roll": -0.03997810557484627,
                        "pitch": -1.3200979232788086,
                        "yaw": -89.52206420898438
                    }
                },
                "velocity": {
                    "x": 0.12005012482404709,
                    "y": -3.8196423053741455,
                    "z": -0.08954795449972153
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.975973129272461,
                "transform": {
                    "location": {
                        "x": 2385.476806640625,
                        "y": 2354.374267578125,
                        "z": 365.27825927734375
                    },
                    "rotation": {
                        "roll": 0.003938838839530945,
                        "pitch": 1.4345650672912598,
                        "yaw": 89.92185974121094
                    }
                },
                "velocity": {
                    "x": 0.012663822621107101,
                    "y": 5.974146366119385,
                    "z": 0.1472068876028061
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.241922855377197,
                "transform": {
                    "location": {
                        "x": 2385.5625,
                        "y": 2375.5712890625,
                        "z": 365.80133056640625
                    },
                    "rotation": {
                        "roll": 0.0007105498225428164,
                        "pitch": 1.3936454057693481,
                        "yaw": 89.78752899169922
                    }
                },
                "velocity": {
                    "x": 0.028701361268758774,
                    "y": 7.239648342132568,
                    "z": 0.17920377850532532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40464580059051514,
        "expert_target_speed": 11.536104809834264,
        "target_point": [
            9.508076533484221,
            0.8229012622209502
        ],
        "target_point_next": [
            9.508076533484221,
            0.8229012622209502
        ]
    }
}