{
    "0": {
        "acceleration": [
            -0.0016591288149356842,
            0.00566213158890605,
            -0.6353798508644104
        ],
        "angular_velocity": [
            -0.015640532597899437,
            -0.04467548057436943,
            -0.0002722880453802645
        ],
        "forward_vector": [
            -0.0010551244486123323,
            0.9999610781669617,
            0.00876117404550314
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010561262024566531,
            0.00010971818119287491
        ],
        "location": [
            2185.135498046875,
            2473.19189453125,
            364.8522644042969
        ],
        "rotation": [
            -0.006286629941314459,
            0.501984715461731,
            90.06045532226562
        ],
        "velocity": [
            -0.00030434824293479323,
            -0.0014518925454467535,
            0.17433051764965057
        ],
        "speed": 0.0014834486228047633,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 206.90890502929688,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.1689453125,
                2524.47509765625,
                164.88661193847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0003011815424542874,
        "expert_target_speed": 1.3708089705636808,
        "target_point": [
            42.339622921119656,
            0.00056906881439861
        ],
        "target_point_next": [
            51.28147877265872,
            8.91342908724978
        ]
    },
    "5": {
        "acceleration": [
            -0.004849874414503574,
            0.0027440027333796024,
            -0.32153820991516113
        ],
        "angular_velocity": [
            -0.01761654019355774,
            -0.014166517183184624,
            -3.1118717743083835e-05
        ],
        "forward_vector": [
            -0.0010551249142736197,
            0.9999615550041199,
            0.008704671636223793
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010555451735854149,
            4.367436849861406e-05
        ],
        "location": [
            2185.135498046875,
            2473.19189453125,
            364.87835693359375
        ],
        "rotation": [
            -0.0025024518836289644,
            0.49874722957611084,
            90.06045532226562
        ],
        "velocity": [
            -0.00013369238877203315,
            -0.0004356752906460315,
            0.05584517493844032
        ],
        "speed": 0.0004557264680650845,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00015640258789,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.1201171875,
                2488.191162109375,
                365.0408630371094
            ],
            "velocity": [
                -0.00011582890874706209,
                0.001485347398556769,
                -0.23386387526988983
            ],
            "speed_kmh": 0.8419270351462025,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.378854990005493,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.194091796875,
                        "z": 365.2173767089844
                    },
                    "rotation": {
                        "roll": -0.0008850127342157066,
                        "pitch": -0.15051686763763428,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 5.431455065263435e-05,
                    "y": -0.00018436374375596642,
                    "z": -2.378854990005493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43501579761505127,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.5911560058594
                    },
                    "rotation": {
                        "roll": -0.00018312077736482024,
                        "pitch": 0.6831691265106201,
                        "yaw": 90.06035614013672
                    }
                },
                "velocity": {
                    "x": 0.00017107512394431978,
                    "y": 0.004881117958575487,
                    "z": -0.4349883794784546
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35864806175231934,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.191650390625,
                        "z": 364.7516784667969
                    },
                    "rotation": {
                        "roll": 0.002335919300094247,
                        "pitch": 0.6000798940658569,
                        "yaw": 90.06031799316406
                    }
                },
                "velocity": {
                    "x": -0.00025430734967812896,
                    "y": 0.003573221853002906,
                    "z": -0.3586301803588867
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23386862874031067,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.191162109375,
                        "z": 365.0408630371094
                    },
                    "rotation": {
                        "roll": -0.0001830982801038772,
                        "pitch": 0.37258678674697876,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -0.00011582890874706209,
                    "y": 0.001485347398556769,
                    "z": -0.23386387526988983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.526482105255127,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.076904296875
                    },
                    "rotation": {
                        "roll": -3.050946725124959e-05,
                        "pitch": 0.29411476850509644,
                        "yaw": 90.0604019165039
                    }
                },
                "velocity": {
                    "x": -2.09559548238758e-05,
                    "y": 0.0026591531932353973,
                    "z": -0.5264753699302673
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0010059148771688342,
        "expert_target_speed": 1.0530816782706236,
        "target_point": [
            42.33962288654786,
            -0.0018031510783425367
        ],
        "target_point_next": [
            51.281978097035626,
            8.910555855794609
        ]
    },
    "10": {
        "acceleration": [
            -0.0018748061265796423,
            0.00044960499508306384,
            -0.08682284504175186
        ],
        "angular_velocity": [
            -0.0003331968327984214,
            0.004753913264721632,
            0.00011969500337727368
        ],
        "forward_vector": [
            -0.0010551251471042633,
            0.9999617338180542,
            0.008684763684868813
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010552667081356049,
            1.1717434063029941e-05
        ],
        "location": [
            2185.135498046875,
            2473.19189453125,
            364.8858947753906
        ],
        "rotation": [
            -0.0006713848561048508,
            0.4976065754890442,
            90.06045532226562
        ],
        "velocity": [
            -0.00014388863928616047,
            -0.0001406934898113832,
            0.014619095250964165
        ],
        "speed": 0.0002012426361160293,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00001049041748,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.1201171875,
                2488.191162109375,
                365.0343322753906
            ],
            "velocity": [
                9.449163189856336e-05,
                -0.0001818419259507209,
                0.02460102178156376
            ],
            "speed_kmh": 0.08856675104888702,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09440740197896957,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.194580078125,
                        "z": 365.07281494140625
                    },
                    "rotation": {
                        "roll": -0.0025939985644072294,
                        "pitch": -0.19018660485744476,
                        "yaw": -89.93907928466797
                    }
                },
                "velocity": {
                    "x": 6.348357419483364e-05,
                    "y": -0.0002630986273288727,
                    "z": 0.09440701454877853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027791421860456467,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.5669860839844
                    },
                    "rotation": {
                        "roll": 1.600941141077783e-05,
                        "pitch": 0.6884830594062805,
                        "yaw": 90.06034851074219
                    }
                },
                "velocity": {
                    "x": -1.1241079846513458e-05,
                    "y": -0.00040406829793937504,
                    "z": 0.02778848260641098
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04365941137075424,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7441711425781
                    },
                    "rotation": {
                        "roll": 0.0024158586747944355,
                        "pitch": 0.6013639569282532,
                        "yaw": 90.06031799316406
                    }
                },
                "velocity": {
                    "x": 4.6052511606831104e-05,
                    "y": -0.0004995625931769609,
                    "z": 0.04365652799606323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024601874873042107,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.191162109375,
                        "z": 365.0343322753906
                    },
                    "rotation": {
                        "roll": 6.841005233582109e-05,
                        "pitch": 0.3726141154766083,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 9.449163189856336e-05,
                    "y": -0.0001818419259507209,
                    "z": 0.02460102178156376
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10713262110948563,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0678405761719
                    },
                    "rotation": {
                        "roll": -0.00015258741041179746,
                        "pitch": 0.2978167235851288,
                        "yaw": 90.0604019165039
                    }
                },
                "velocity": {
                    "x": 4.26168626290746e-05,
                    "y": -0.0005582351586781442,
                    "z": 0.10713115334510803
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00017086989828385413,
        "expert_target_speed": 1.0124281585024295,
        "target_point": [
            42.33962288654786,
            -0.0018031510783425367
        ],
        "target_point_next": [
            51.281978097035626,
            8.910555855794609
        ]
    },
    "15": {
        "acceleration": [
            0.0007642833516001701,
            -0.0001663043804001063,
            -0.024940915405750275
        ],
        "angular_velocity": [
            0.0007904780213721097,
            0.005906308069825172,
            0.00016864860663190484
        ],
        "forward_vector": [
            -0.0010551252635195851,
            0.999961793422699,
            0.008680352941155434
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010552065214142203,
            4.793516836798517e-06
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.88763427734375
        ],
        "rotation": [
            -0.00027465863968245685,
            0.49735385179519653,
            90.06045532226562
        ],
        "velocity": [
            1.544271617603954e-05,
            -5.148246782482602e-05,
            0.0037638491485267878
        ],
        "speed": 5.374869278622466e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.064967155456543,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.119384765625,
                2488.256103515625,
                365.037841796875
            ],
            "velocity": [
                -0.008734759874641895,
                0.8778817057609558,
                0.013330172747373581
            ],
            "speed_kmh": 3.160894875479915,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.971147894859314,
                "transform": {
                    "location": {
                        "x": 2187.843017578125,
                        "y": 2514.124267578125,
                        "z": 365.1053771972656
                    },
                    "rotation": {
                        "roll": -0.01074218563735485,
                        "pitch": 0.034594904631376266,
                        "yaw": -89.8674545288086
                    }
                },
                "velocity": {
                    "x": 0.010437991470098495,
                    "y": -0.9652608036994934,
                    "z": 0.10625874996185303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8567215204238892,
                "transform": {
                    "location": {
                        "x": 2185.1669921875,
                        "y": 2443.258056640625,
                        "z": 364.5729064941406
                    },
                    "rotation": {
                        "roll": -0.006408702582120895,
                        "pitch": 0.8968174457550049,
                        "yaw": 90.12897491455078
                    }
                },
                "velocity": {
                    "x": -0.010628441348671913,
                    "y": 0.855845034122467,
                    "z": 0.03725692629814148
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2006820440292358,
                "transform": {
                    "location": {
                        "x": 2185.150634765625,
                        "y": 2458.3046875,
                        "z": 364.75189208984375
                    },
                    "rotation": {
                        "roll": -0.004333532880991697,
                        "pitch": 0.7963590025901794,
                        "yaw": 90.09053039550781
                    }
                },
                "velocity": {
                    "x": -0.010427044704556465,
                    "y": 1.2003843784332275,
                    "z": 0.024615049362182617
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8780263662338257,
                "transform": {
                    "location": {
                        "x": 2185.119384765625,
                        "y": 2488.256103515625,
                        "z": 365.037841796875
                    },
                    "rotation": {
                        "roll": -0.001800529076717794,
                        "pitch": 0.44404423236846924,
                        "yaw": 90.05863189697266
                    }
                },
                "velocity": {
                    "x": -0.008734759874641895,
                    "y": 0.8778817057609558,
                    "z": 0.013330172747373581
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023629499599337578,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0838317871094
                    },
                    "rotation": {
                        "roll": -0.000305174762615934,
                        "pitch": 0.29591110348701477,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": -7.026839739410207e-05,
                    "y": -0.00012788012099917978,
                    "z": 0.023629048839211464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0014232643879950047,
        "expert_target_speed": 1.006698562163471,
        "target_point": [
            42.33962315316023,
            -0.0015590105989188446
        ],
        "target_point_next": [
            51.28197836364801,
            8.910799996274033
        ]
    },
    "20": {
        "acceleration": [
            0.0006736414507031441,
            -0.00043610931606963277,
            -0.0003520050086081028
        ],
        "angular_velocity": [
            -0.0010164708364754915,
            -0.002602597000077367,
            9.895257971948013e-05
        ],
        "forward_vector": [
            -0.0010551252635195851,
            0.9999618530273438,
            0.008671054616570473
        ],
        "right_vector": [
            -0.999999463558197,
            -0.00105504528619349,
            -1.3800803571939468e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8879699707031
        ],
        "rotation": [
            0.0007907575345598161,
            0.4968211054801941,
            90.06045532226562
        ],
        "velocity": [
            -1.58825332619017e-05,
            -2.8945580197614618e-05,
            0.001808715402148664
        ],
        "speed": 3.30166848092287e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.414098739624023,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.115966796875,
                2488.605224609375,
                365.0406799316406
            ],
            "velocity": [
                -0.025097621604800224,
                1.8310717344284058,
                0.014015693217515945
            ],
            "speed_kmh": 6.592670502041225,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.881671667098999,
                "transform": {
                    "location": {
                        "x": 2187.84716796875,
                        "y": 2513.750244140625,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.016235364601016045,
                        "pitch": 0.2062375545501709,
                        "yaw": -89.72637176513672
                    }
                },
                "velocity": {
                    "x": 0.023194069042801857,
                    "y": -1.8813021183013916,
                    "z": 0.02920151688158512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8328423500061035,
                "transform": {
                    "location": {
                        "x": 2185.1630859375,
                        "y": 2443.6220703125,
                        "z": 364.58111572265625
                    },
                    "rotation": {
                        "roll": -0.010284439660608768,
                        "pitch": 1.0731319189071655,
                        "yaw": 90.27029418945312
                    }
                },
                "velocity": {
                    "x": -0.022587046027183533,
                    "y": 1.8324172496795654,
                    "z": 0.03237010911107063
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.652827262878418,
                "transform": {
                    "location": {
                        "x": 2185.145263671875,
                        "y": 2458.80712890625,
                        "z": 364.7585144042969
                    },
                    "rotation": {
                        "roll": -0.00384520529769361,
                        "pitch": 0.8758829236030579,
                        "yaw": 90.25153350830078
                    }
                },
                "velocity": {
                    "x": -0.028637852519750595,
                    "y": 2.652515411376953,
                    "z": 0.028890542685985565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8312973976135254,
                "transform": {
                    "location": {
                        "x": 2185.115966796875,
                        "y": 2488.605224609375,
                        "z": 365.0406799316406
                    },
                    "rotation": {
                        "roll": -0.0012206712272018194,
                        "pitch": 0.4737555682659149,
                        "yaw": 90.1832046508789
                    }
                },
                "velocity": {
                    "x": -0.025097621604800224,
                    "y": 1.8310717344284058,
                    "z": 0.014015693217515945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1127583980560303,
                "transform": {
                    "location": {
                        "x": 2185.103271484375,
                        "y": 2503.310791015625,
                        "z": 365.0856628417969
                    },
                    "rotation": {
                        "roll": -0.0010986377019435167,
                        "pitch": 0.3260117471218109,
                        "yaw": 90.1103286743164
                    }
                },
                "velocity": {
                    "x": -0.013597213663160801,
                    "y": 1.1126604080200195,
                    "z": 0.00575987808406353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0013317526318132877,
        "expert_target_speed": 1.0198273600412542,
        "target_point": [
            42.33962317405324,
            0.0008132093083769582
        ],
        "target_point_next": [
            51.281479025592304,
            8.913673227743757
        ]
    },
    "25": {
        "acceleration": [
            -0.026734158396720886,
            2.728140354156494,
            0.017514042556285858
        ],
        "angular_velocity": [
            0.3575977087020874,
            0.0243234820663929,
            -1.0083616971969604
        ],
        "forward_vector": [
            -0.0013192124897614121,
            0.9999080896377563,
            0.013492531143128872
        ],
        "right_vector": [
            -0.9999991059303284,
            -0.0013191071338951588,
            -1.6702337234164588e-05
        ],
        "location": [
            2185.135498046875,
            2473.338623046875,
            364.8884582519531
        ],
        "rotation": [
            0.0009570606052875519,
            0.7730885744094849,
            90.07559204101562
        ],
        "velocity": [
            -0.002683434635400772,
            1.0434527397155762,
            0.008143453858792782
        ],
        "speed": 1.04345619018787,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.871883392333984,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.109375,
                2489.209716796875,
                365.0445556640625
            ],
            "velocity": [
                -0.04080276936292648,
                3.0025012493133545,
                0.018834667280316353
            ],
            "speed_kmh": 10.810215186664195,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.004650592803955,
                "transform": {
                    "location": {
                        "x": 2187.854248046875,
                        "y": 2513.14501953125,
                        "z": 365.122802734375
                    },
                    "rotation": {
                        "roll": -0.015136699192225933,
                        "pitch": 0.26294177770614624,
                        "yaw": -89.5835189819336
                    }
                },
                "velocity": {
                    "x": 0.03812128305435181,
                    "y": -3.004408597946167,
                    "z": -0.0005695056752301753
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.937185287475586,
                "transform": {
                    "location": {
                        "x": 2185.15625,
                        "y": 2444.215576171875,
                        "z": 364.5894775390625
                    },
                    "rotation": {
                        "roll": -0.007659828290343285,
                        "pitch": 1.1260727643966675,
                        "yaw": 90.41326141357422
                    }
                },
                "velocity": {
                    "x": -0.03729180246591568,
                    "y": 2.936708688735962,
                    "z": 0.03752591833472252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.186851978302002,
                "transform": {
                    "location": {
                        "x": 2185.135498046875,
                        "y": 2459.66748046875,
                        "z": 364.76751708984375
                    },
                    "rotation": {
                        "roll": -0.004577637184411287,
                        "pitch": 0.8937233686447144,
                        "yaw": 90.44463348388672
                    }
                },
                "velocity": {
                    "x": -0.04997611418366432,
                    "y": 4.186340808868408,
                    "z": 0.04222365468740463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.002837657928467,
                "transform": {
                    "location": {
                        "x": 2185.109375,
                        "y": 2489.209716796875,
                        "z": 365.0445556640625
                    },
                    "rotation": {
                        "roll": -0.0016479240730404854,
                        "pitch": 0.4927981197834015,
                        "yaw": 90.35337829589844
                    }
                },
                "velocity": {
                    "x": -0.04080276936292648,
                    "y": 3.0025012493133545,
                    "z": 0.018834667280316353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.710528016090393,
                "transform": {
                    "location": {
                        "x": 2185.099365234375,
                        "y": 2503.674072265625,
                        "z": 365.08740234375
                    },
                    "rotation": {
                        "roll": -0.00021363352425396442,
                        "pitch": 0.3215174674987793,
                        "yaw": 90.17768096923828
                    }
                },
                "velocity": {
                    "x": -0.02161022461950779,
                    "y": 1.7103794813156128,
                    "z": 0.006411752663552761
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0019735440146178007,
        "expert_target_speed": 2.0584610197911184,
        "target_point": [
            42.19289371267689,
            -0.008101160899697389
        ],
        "target_point_next": [
            51.13661298621026,
            8.90288898240958
        ]
    },
    "30": {
        "acceleration": [
            -0.00507827615365386,
            2.2823643684387207,
            0.002890974283218384
        ],
        "angular_velocity": [
            -0.15167315304279327,
            -0.027432937175035477,
            0.14485222101211548
        ],
        "forward_vector": [
            -0.0008320454508066177,
            0.9999047517776489,
            0.013773958198726177
        ],
        "right_vector": [
            -0.9999996423721313,
            -0.0008315946324728429,
            -3.846129038720392e-05
        ],
        "location": [
            2185.135498046875,
            2473.69287109375,
            364.8914489746094
        ],
        "rotation": [
            0.002203878713771701,
            0.7892146706581116,
            90.04767608642578
        ],
        "velocity": [
            -0.0017731819534674287,
            1.6800886392593384,
            0.01395241729915142
        ],
        "speed": 1.6800895749758509,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.453691482543945,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.097900390625,
                2490.145751953125,
                365.05035400390625
            ],
            "velocity": [
                -0.06150120124220848,
                4.390471935272217,
                0.027357101440429688
            ],
            "speed_kmh": 15.807556392948179,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.413175106048584,
                "transform": {
                    "location": {
                        "x": 2187.865966796875,
                        "y": 2512.204833984375,
                        "z": 365.1205139160156
                    },
                    "rotation": {
                        "roll": -0.01562502607703209,
                        "pitch": 0.3857075870037079,
                        "yaw": -89.43018341064453
                    }
                },
                "velocity": {
                    "x": 0.058834340423345566,
                    "y": -4.412768840789795,
                    "z": -0.011197452433407307
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.330513954162598,
                "transform": {
                    "location": {
                        "x": 2185.144775390625,
                        "y": 2445.135498046875,
                        "z": 364.6002502441406
                    },
                    "rotation": {
                        "roll": -0.005310011096298695,
                        "pitch": 1.2417078018188477,
                        "yaw": 90.56578063964844
                    }
                },
                "velocity": {
                    "x": -0.05764932557940483,
                    "y": 4.329834938049316,
                    "z": 0.05060252174735069
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.349853515625,
                "transform": {
                    "location": {
                        "x": 2185.119873046875,
                        "y": 2460.89208984375,
                        "z": 364.7802734375
                    },
                    "rotation": {
                        "roll": -0.0011901833349838853,
                        "pitch": 0.8457071185112,
                        "yaw": 90.63626098632812
                    }
                },
                "velocity": {
                    "x": -0.06968332827091217,
                    "y": 5.349123477935791,
                    "z": 0.054368600249290466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.390987873077393,
                "transform": {
                    "location": {
                        "x": 2185.097900390625,
                        "y": 2490.145751953125,
                        "z": 365.05035400390625
                    },
                    "rotation": {
                        "roll": -0.000274686113698408,
                        "pitch": 0.5163486003875732,
                        "yaw": 90.53143310546875
                    }
                },
                "velocity": {
                    "x": -0.06150120124220848,
                    "y": 4.390471935272217,
                    "z": 0.027357101440429688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.265533924102783,
                "transform": {
                    "location": {
                        "x": 2185.09423828125,
                        "y": 2504.173095703125,
                        "z": 365.08990478515625
                    },
                    "rotation": {
                        "roll": 0.0003285876882728189,
                        "pitch": 0.31388816237449646,
                        "yaw": 90.31669616699219
                    }
                },
                "velocity": {
                    "x": -0.030213480815291405,
                    "y": 2.2653064727783203,
                    "z": 0.010848617181181908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0020075873471796513,
        "expert_target_speed": 2.7058924392166483,
        "target_point": [
            41.838645665374486,
            0.009038251675396153
        ],
        "target_point_next": [
            50.778807737327135,
            8.923597237129846
        ]
    },
    "35": {
        "acceleration": [
            -0.006707687862217426,
            3.5485219955444336,
            0.017644688487052917
        ],
        "angular_velocity": [
            0.23044362664222717,
            0.019237380474805832,
            -0.035475365817546844
        ],
        "forward_vector": [
            -0.000905107066500932,
            0.9998972415924072,
            0.014307009987533092
        ],
        "right_vector": [
            -0.9999995827674866,
            -0.0009050304652191699,
            -1.1830124094558414e-05
        ],
        "location": [
            2185.135498046875,
            2474.213134765625,
            364.8956604003906
        ],
        "rotation": [
            0.0006778855458833277,
            0.8197592496871948,
            90.05186462402344
        ],
        "velocity": [
            -0.002833331236615777,
            2.4887895584106445,
            0.019437197595834732
        ],
        "speed": 2.488791171195315,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.180057525634766,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.08154296875,
                2491.392333984375,
                365.0588073730469
            ],
            "velocity": [
                -0.07425074279308319,
                5.212556838989258,
                0.032802075147628784
            ],
            "speed_kmh": 18.767479847179366,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.426080703735352,
                "transform": {
                    "location": {
                        "x": 2187.882568359375,
                        "y": 2510.9423828125,
                        "z": 365.1171875
                    },
                    "rotation": {
                        "roll": -0.013885509222745895,
                        "pitch": 0.3561396896839142,
                        "yaw": -89.28836059570312
                    }
                },
                "velocity": {
                    "x": 0.07481847703456879,
                    "y": -5.425541877746582,
                    "z": -0.015746498480439186
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.43211030960083,
                "transform": {
                    "location": {
                        "x": 2185.12841796875,
                        "y": 2446.380859375,
                        "z": 364.6151123046875
                    },
                    "rotation": {
                        "roll": -0.002929769456386566,
                        "pitch": 1.2396588325500488,
                        "yaw": 90.70008850097656
                    }
                },
                "velocity": {
                    "x": -0.07531847804784775,
                    "y": 5.431209564208984,
                    "z": 0.0641246810555458
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.642215251922607,
                "transform": {
                    "location": {
                        "x": 2185.107666015625,
                        "y": 2462.02001953125,
                        "z": 364.7909240722656
                    },
                    "rotation": {
                        "roll": 0.016491970047354698,
                        "pitch": 0.5539078116416931,
                        "yaw": 90.4806900024414
                    }
                },
                "velocity": {
                    "x": -0.03780362010002136,
                    "y": 4.6418304443359375,
                    "z": 0.04629500210285187
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.213188648223877,
                "transform": {
                    "location": {
                        "x": 2185.08154296875,
                        "y": 2491.392333984375,
                        "z": 365.0588073730469
                    },
                    "rotation": {
                        "roll": 0.0019043002976104617,
                        "pitch": 0.4735848009586334,
                        "yaw": 90.68024444580078
                    }
                },
                "velocity": {
                    "x": -0.07425074279308319,
                    "y": 5.212556838989258,
                    "z": 0.032802075147628784
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.803804636001587,
                "transform": {
                    "location": {
                        "x": 2185.0869140625,
                        "y": 2504.809326171875,
                        "z": 365.0932312011719
                    },
                    "rotation": {
                        "roll": 0.0003163678920827806,
                        "pitch": 0.31365594267845154,
                        "yaw": 90.45794677734375
                    }
                },
                "velocity": {
                    "x": -0.03815392032265663,
                    "y": 2.803511381149292,
                    "z": 0.013753518462181091
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0014427866553887725,
        "expert_target_speed": 3.5170710009769732,
        "target_point": [
            41.31838217967847,
            0.009478392889933067
        ],
        "target_point_next": [
            50.258544251631115,
            8.924037378344384
        ]
    },
    "40": {
        "acceleration": [
            -0.006076027639210224,
            3.095059394836426,
            0.01675836741924286
        ],
        "angular_velocity": [
            -0.04014122113585472,
            0.015101321041584015,
            0.08112898468971252
        ],
        "forward_vector": [
            -0.0010252529755234718,
            0.9998924732208252,
            0.01462633814662695
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010252946522086859,
            -4.645436547434656e-06
        ],
        "location": [
            2185.135498046875,
            2474.9423828125,
            364.9015197753906
        ],
        "rotation": [
            0.00026619239361025393,
            0.8380573391914368,
            90.05874633789062
        ],
        "velocity": [
            -0.004081018269062042,
            3.2922897338867188,
            0.026863880455493927
        ],
        "speed": 3.29229226323636,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.705249786376953,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.069580078125,
                2492.646728515625,
                365.0679626464844
            ],
            "velocity": [
                -0.031482525169849396,
                3.9189717769622803,
                0.021656904369592667
            ],
            "speed_kmh": 14.108969043677213,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.1446332931518555,
                "transform": {
                    "location": {
                        "x": 2187.8955078125,
                        "y": 2509.550537109375,
                        "z": 365.1134033203125
                    },
                    "rotation": {
                        "roll": 0.016290856525301933,
                        "pitch": 0.1810683012008667,
                        "yaw": -89.41403198242188
                    }
                },
                "velocity": {
                    "x": 0.05032166466116905,
                    "y": -6.14439582824707,
                    "z": -0.01957320235669613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.008094787597656,
                "transform": {
                    "location": {
                        "x": 2185.115234375,
                        "y": 2447.7509765625,
                        "z": 364.6317443847656
                    },
                    "rotation": {
                        "roll": 0.0252924095839262,
                        "pitch": 0.9993385672569275,
                        "yaw": 90.55868530273438
                    }
                },
                "velocity": {
                    "x": -0.04890055954456329,
                    "y": 6.00750207901001,
                    "z": 0.06878583878278732
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.2117767333984375,
                "transform": {
                    "location": {
                        "x": 2185.098388671875,
                        "y": 2463.19482421875,
                        "z": 364.8025817871094
                    },
                    "rotation": {
                        "roll": 0.008246362209320068,
                        "pitch": 0.5074010491371155,
                        "yaw": 90.45997619628906
                    }
                },
                "velocity": {
                    "x": -0.03207724913954735,
                    "y": 4.211463928222656,
                    "z": 0.04007710516452789
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9191582202911377,
                "transform": {
                    "location": {
                        "x": 2185.069580078125,
                        "y": 2492.646728515625,
                        "z": 365.0679626464844
                    },
                    "rotation": {
                        "roll": 0.0064031826332211494,
                        "pitch": 0.2879197895526886,
                        "yaw": 90.58409118652344
                    }
                },
                "velocity": {
                    "x": -0.031482525169849396,
                    "y": 3.9189717769622803,
                    "z": 0.021656904369592667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.426196336746216,
                "transform": {
                    "location": {
                        "x": 2185.077392578125,
                        "y": 2505.58837890625,
                        "z": 365.0965576171875
                    },
                    "rotation": {
                        "roll": 0.0014136803802102804,
                        "pitch": 0.2896000146865845,
                        "yaw": 90.58431243896484
                    }
                },
                "velocity": {
                    "x": -0.048161543905735016,
                    "y": 3.4258317947387695,
                    "z": 0.013339347206056118
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0021738591603934765,
        "expert_target_speed": 4.288478472416411,
        "target_point": [
            40.58913564907997,
            0.00010845966793027184
        ],
        "target_point_next": [
            49.53149085956775,
            8.912467466540882
        ]
    },
    "45": {
        "acceleration": [
            -0.006480291485786438,
            3.107156753540039,
            0.03168545663356781
        ],
        "angular_velocity": [
            -0.061002977192401886,
            -0.042714811861515045,
            -0.04854489862918854
        ],
        "forward_vector": [
            -0.0011529154144227505,
            0.9998950362205505,
            0.014443609863519669
        ],
        "right_vector": [
            -0.9999993443489075,
            -0.0011530272895470262,
            -5.839391974404862e-07
        ],
        "location": [
            2185.133544921875,
            2475.8681640625,
            364.9090270996094
        ],
        "rotation": [
            3.3460742997704074e-05,
            0.8275866508483887,
            90.0660629272461
        ],
        "velocity": [
            -0.005541530903428793,
            4.081478595733643,
            0.03244666010141373
        ],
        "speed": 4.0814823576730825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.171079635620117,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.06640625,
                2493.038330078125,
                365.072998046875
            ],
            "velocity": [
                -1.8673119484446943e-05,
                -0.0009794090874493122,
                0.0007702691946178675
            ],
            "speed_kmh": 0.004486162613724892,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.739981651306152,
                "transform": {
                    "location": {
                        "x": 2187.90966796875,
                        "y": 2507.799560546875,
                        "z": 365.1069030761719
                    },
                    "rotation": {
                        "roll": 0.012900193221867085,
                        "pitch": 0.4162521958351135,
                        "yaw": -89.52841186523438
                    }
                },
                "velocity": {
                    "x": 0.05813772603869438,
                    "y": -7.739716529846191,
                    "z": -0.02689407765865326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.054345607757568,
                "transform": {
                    "location": {
                        "x": 2185.1015625,
                        "y": 2449.45849609375,
                        "z": 364.6507263183594
                    },
                    "rotation": {
                        "roll": 0.016652222722768784,
                        "pitch": 1.1249184608459473,
                        "yaw": 90.47367858886719
                    }
                },
                "velocity": {
                    "x": -0.052771225571632385,
                    "y": 7.053691864013672,
                    "z": 0.08021030575037003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6881637573242188,
                "transform": {
                    "location": {
                        "x": 2185.091796875,
                        "y": 2464.041748046875,
                        "z": 364.8105773925781
                    },
                    "rotation": {
                        "roll": 0.0041844542138278484,
                        "pitch": 0.2972702980041504,
                        "yaw": 90.45349884033203
                    }
                },
                "velocity": {
                    "x": -0.02120477706193924,
                    "y": 2.687960386276245,
                    "z": 0.025359200313687325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012461562873795629,
                "transform": {
                    "location": {
                        "x": 2185.06640625,
                        "y": 2493.038330078125,
                        "z": 365.072998046875
                    },
                    "rotation": {
                        "roll": 0.0018717278726398945,
                        "pitch": -0.02322264201939106,
                        "yaw": 90.58753204345703
                    }
                },
                "velocity": {
                    "x": -1.8673119484446943e-05,
                    "y": -0.0009794090874493122,
                    "z": 0.0007702691946178675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.2299981117248535,
                "transform": {
                    "location": {
                        "x": 2185.06494140625,
                        "y": 2506.54443359375,
                        "z": 365.1006164550781
                    },
                    "rotation": {
                        "roll": 0.0035266673658043146,
                        "pitch": 0.2567126452922821,
                        "yaw": 90.6724853515625
                    }
                },
                "velocity": {
                    "x": -0.044461462646722794,
                    "y": 4.229736328125,
                    "z": 0.015519599430263042
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005101713468320668,
        "expert_target_speed": 4.953052872887543,
        "target_point": [
            39.663352818206306,
            -0.0008336700321919729
        ],
        "target_point_next": [
            48.60570802869408,
            8.91152533684076
        ]
    },
    "50": {
        "acceleration": [
            -0.01018822193145752,
            2.8637123107910156,
            -0.005904436111450195
        ],
        "angular_velocity": [
            -0.07987749576568604,
            0.013569350354373455,
            0.04034251347184181
        ],
        "forward_vector": [
            -0.0013249252224341035,
            0.999901533126831,
            0.013970396481454372
        ],
        "right_vector": [
            -0.9999991059303284,
            -0.0013252926291897893,
            1.7042269973899238e-05
        ],
        "location": [
            2185.131591796875,
            2476.984375,
            364.9182434082031
        ],
        "rotation": [
            -0.0009765454451553524,
            0.8004708290100098,
            90.07592010498047
        ],
        "velocity": [
            -0.007393951993435621,
            4.813143253326416,
            0.03715866804122925
        ],
        "speed": 4.813148932618611,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.283571243286133,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.06494140625,
                2493.26708984375,
                365.07122802734375
            ],
            "velocity": [
                -0.010933395475149155,
                1.4517146348953247,
                0.007014570292085409
            ],
            "speed_kmh": 5.226381908505094,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.71699047088623,
                "transform": {
                    "location": {
                        "x": 2187.925048828125,
                        "y": 2505.748291015625,
                        "z": 365.0989074707031
                    },
                    "rotation": {
                        "roll": 0.01913139410316944,
                        "pitch": 0.22630465030670166,
                        "yaw": -89.59536743164062
                    }
                },
                "velocity": {
                    "x": 0.04744582250714302,
                    "y": -8.716776847839355,
                    "z": -0.038315583020448685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4606122970581055,
                "transform": {
                    "location": {
                        "x": 2185.087646484375,
                        "y": 2451.250244140625,
                        "z": 364.6717224121094
                    },
                    "rotation": {
                        "roll": 0.011205419898033142,
                        "pitch": 0.923393726348877,
                        "yaw": 90.4079818725586
                    }
                },
                "velocity": {
                    "x": -0.052007146179676056,
                    "y": 7.459963321685791,
                    "z": 0.08351840823888779
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.39514580368995667,
                "transform": {
                    "location": {
                        "x": 2185.089599609375,
                        "y": 2464.326904296875,
                        "z": 364.8132629394531
                    },
                    "rotation": {
                        "roll": 0.0040787942707538605,
                        "pitch": 0.08091724663972855,
                        "yaw": 90.45454406738281
                    }
                },
                "velocity": {
                    "x": -0.0031868580263108015,
                    "y": 0.3951142132282257,
                    "z": 0.0038457107730209827
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.451772689819336,
                "transform": {
                    "location": {
                        "x": 2185.06494140625,
                        "y": 2493.26708984375,
                        "z": 365.07122802734375
                    },
                    "rotation": {
                        "roll": 0.0035228566266596317,
                        "pitch": 0.35229429602622986,
                        "yaw": 90.56403350830078
                    }
                },
                "velocity": {
                    "x": -0.010933395475149155,
                    "y": 1.4517146348953247,
                    "z": 0.007014570292085409
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.338575839996338,
                "transform": {
                    "location": {
                        "x": 2185.054443359375,
                        "y": 2507.661865234375,
                        "z": 365.10540771484375
                    },
                    "rotation": {
                        "roll": 0.004518610425293446,
                        "pitch": 0.199113667011261,
                        "yaw": 90.5941390991211
                    }
                },
                "velocity": {
                    "x": -0.036868151277303696,
                    "y": 4.338382244110107,
                    "z": 0.01787293329834938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0002907541347667575,
        "expert_target_speed": 5.586873906960416,
        "target_point": [
            38.547139328563034,
            -0.009278549375134233
        ],
        "target_point_next": [
            47.49127712771602,
            8.901291511383622
        ]
    },
    "55": {
        "acceleration": [
            -0.0014703348278999329,
            -0.8851051330566406,
            -0.0011638551950454712
        ],
        "angular_velocity": [
            -1.2709591388702393,
            0.015426838770508766,
            0.04554828628897667
        ],
        "forward_vector": [
            -0.0015085347695276141,
            0.999931275844574,
            0.011628245934844017
        ],
        "right_vector": [
            -0.9999988675117493,
            -0.0015088968211784959,
            2.2368505597114563e-05
        ],
        "location": [
            2185.129638671875,
            2478.245849609375,
            364.92877197265625
        ],
        "rotation": [
            -0.0012817075476050377,
            0.6662644147872925,
            90.08644104003906
        ],
        "velocity": [
            -0.008450648747384548,
            5.025915622711182,
            0.04048943519592285
        ],
        "speed": 5.025922727228959,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.501557350158691,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.061279296875,
                2493.74658203125,
                365.0733947753906
            ],
            "velocity": [
                -0.01716184988617897,
                2.353095293045044,
                0.014118118211627007
            ],
            "speed_kmh": 8.471520817315689,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778076171875,
                        "y": 2575.275146484375,
                        "z": 365.0711364746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 5.4823779294110864e-08,
                    "y": -1.2052145392793534e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5203953385353088,
                "transform": {
                    "location": {
                        "x": 2145.968994140625,
                        "y": 2524.5302734375,
                        "z": 364.8191833496094
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.21825867891311646,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -0.001954138046130538,
                    "y": 1.4386834664037451e-05,
                    "z": -0.5203916430473328
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.550048828125,
                        "y": 2524.564208984375,
                        "z": 364.93408203125
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.36803913116455,
                "transform": {
                    "location": {
                        "x": 2187.935546875,
                        "y": 2503.58251953125,
                        "z": 365.0899963378906
                    },
                    "rotation": {
                        "roll": 0.02063981257379055,
                        "pitch": -0.1615271419286728,
                        "yaw": -89.73809051513672
                    }
                },
                "velocity": {
                    "x": 0.03434276208281517,
                    "y": -8.367849349975586,
                    "z": -0.04464827477931976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.203858375549316,
                "transform": {
                    "location": {
                        "x": 2185.078125,
                        "y": 2453.127685546875,
                        "z": 364.6932678222656
                    },
                    "rotation": {
                        "roll": 0.019516387954354286,
                        "pitch": 0.7159404158592224,
                        "yaw": 90.3130111694336
                    }
                },
                "velocity": {
                    "x": -0.032201655209064484,
                    "y": 7.203354835510254,
                    "z": 0.07884342223405838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5839630365371704,
                "transform": {
                    "location": {
                        "x": 2185.08740234375,
                        "y": 2464.59326171875,
                        "z": 364.8160095214844
                    },
                    "rotation": {
                        "roll": 0.0020559816621243954,
                        "pitch": 0.6226946711540222,
                        "yaw": 90.4168701171875
                    }
                },
                "velocity": {
                    "x": -0.012132314033806324,
                    "y": 1.5838533639907837,
                    "z": 0.014150800183415413
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3532001972198486,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2493.74658203125,
                        "z": 365.0733947753906
                    },
                    "rotation": {
                        "roll": 0.002504723845049739,
                        "pitch": 0.4351581633090973,
                        "yaw": 90.5447769165039
                    }
                },
                "velocity": {
                    "x": -0.01716184988617897,
                    "y": 2.353095293045044,
                    "z": 0.014118118211627007
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8968303203582764,
                "transform": {
                    "location": {
                        "x": 2185.045654296875,
                        "y": 2508.682373046875,
                        "z": 365.1091613769531
                    },
                    "rotation": {
                        "roll": 0.001223635976202786,
                        "pitch": 0.16483977437019348,
                        "yaw": 90.53466796875
                    }
                },
                "velocity": {
                    "x": -0.0319218710064888,
                    "y": 3.8966777324676514,
                    "z": 0.013010787777602673
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0027920843567699194,
        "expert_target_speed": 5.744032289300233,
        "target_point": [
            37.28565964036686,
            -0.019006940931553744
        ],
        "target_point_next": [
            46.2320448182342,
            8.889306705722499
        ]
    },
    "60": {
        "acceleration": [
            -0.005892608314752579,
            1.1928272247314453,
            0.1043102890253067
        ],
        "angular_velocity": [
            -0.3470887541770935,
            0.04054233804345131,
            0.041694995015859604
        ],
        "forward_vector": [
            -0.0017124108271673322,
            0.9999555945396423,
            0.009267196990549564
        ],
        "right_vector": [
            -0.9999985098838806,
            -0.0017127656610682607,
            3.0358785807038657e-05
        ],
        "location": [
            2185.127685546875,
            2479.5224609375,
            364.9391174316406
        ],
        "rotation": [
            -0.0017395049799233675,
            0.5309788584709167,
            90.0981216430664
        ],
        "velocity": [
            -0.009544321335852146,
            5.103609085083008,
            0.04040493071079254
        ],
        "speed": 5.10361800955083,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.786215782165527,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.05712890625,
                2494.307861328125,
                365.07745361328125
            ],
            "velocity": [
                -0.015858713537454605,
                2.143118143081665,
                0.013636616989970207
            ],
            "speed_kmh": 7.715592724733236,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2573.19140625,
                        "z": 365.0768737792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.10835159569978714,
                "transform": {
                    "location": {
                        "x": 2236.939208984375,
                        "y": 2524.330322265625,
                        "z": 366.5074768066406
                    },
                    "rotation": {
                        "roll": 0.001091671409085393,
                        "pitch": -1.7607133388519287,
                        "yaw": 179.8738555908203
                    }
                },
                "velocity": {
                    "x": -0.003376867389306426,
                    "y": -0.00021000689594075084,
                    "z": 0.10829876363277435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13236047327518463,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7451171875
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.21685849130153656,
                        "yaw": -0.1259460598230362
                    }
                },
                "velocity": {
                    "x": 0.0005176276317797601,
                    "y": -0.00012575392611324787,
                    "z": 0.13235940039157867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02338782325387001,
                "transform": {
                    "location": {
                        "x": 2145.968994140625,
                        "y": 2524.5302734375,
                        "z": 364.794921875
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": 0.21941298246383667,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.00010548908176133409,
                    "y": -4.760549927596003e-06,
                    "z": 0.02338758483529091
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.858813285827637,
                "transform": {
                    "location": {
                        "x": 2187.943603515625,
                        "y": 2501.543212890625,
                        "z": 365.0799865722656
                    },
                    "rotation": {
                        "roll": 0.011558343656361103,
                        "pitch": -0.3868345618247986,
                        "yaw": -89.78558349609375
                    }
                },
                "velocity": {
                    "x": 0.02796630561351776,
                    "y": -7.858649253845215,
                    "z": -0.042408112436532974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8784573078155518,
                "transform": {
                    "location": {
                        "x": 2185.07177734375,
                        "y": 2454.638427734375,
                        "z": 364.71282958984375
                    },
                    "rotation": {
                        "roll": 0.012046444229781628,
                        "pitch": -0.1577773541212082,
                        "yaw": 90.34552001953125
                    }
                },
                "velocity": {
                    "x": -0.014737253077328205,
                    "y": 3.8782360553741455,
                    "z": 0.03871011734008789
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9414241313934326,
                "transform": {
                    "location": {
                        "x": 2185.08349609375,
                        "y": 2465.162353515625,
                        "z": 364.8214416503906
                    },
                    "rotation": {
                        "roll": 0.003159463405609131,
                        "pitch": 0.7732661366462708,
                        "yaw": 90.39433288574219
                    }
                },
                "velocity": {
                    "x": -0.02085094153881073,
                    "y": 2.9412155151367188,
                    "z": 0.028162211179733276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1432201862335205,
                "transform": {
                    "location": {
                        "x": 2185.05712890625,
                        "y": 2494.307861328125,
                        "z": 365.07745361328125
                    },
                    "rotation": {
                        "roll": 0.0011556717799976468,
                        "pitch": 0.35792919993400574,
                        "yaw": 90.5140380859375
                    }
                },
                "velocity": {
                    "x": -0.015858713537454605,
                    "y": 2.143118143081665,
                    "z": 0.013636616989970207
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7463884353637695,
                "transform": {
                    "location": {
                        "x": 2185.03857421875,
                        "y": 2509.519775390625,
                        "z": 365.1119384765625
                    },
                    "rotation": {
                        "roll": 0.0008754544542171061,
                        "pitch": 0.1488024890422821,
                        "yaw": 90.50526428222656
                    }
                },
                "velocity": {
                    "x": -0.021867066621780396,
                    "y": 2.7462871074676514,
                    "z": 0.00886563304811716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0032833549194037914,
        "expert_target_speed": 5.751391930508336,
        "target_point": [
            36.00904276212579,
            -0.02554767430156376
        ],
        "target_point_next": [
            44.95705045688299,
            8.881136224461954
        ]
    },
    "65": {
        "acceleration": [
            0.012073926627635956,
            0.11104583740234375,
            0.021269023418426514
        ],
        "angular_velocity": [
            -0.12823763489723206,
            -0.030132004991173744,
            0.01047343760728836
        ],
        "forward_vector": [
            -0.0016149247530847788,
            0.9999698996543884,
            0.007591531611979008
        ],
        "right_vector": [
            -0.9999986886978149,
            -0.0016150884330272675,
            1.5446448742295615e-05
        ],
        "location": [
            2185.1259765625,
            2480.77490234375,
            364.9485778808594
        ],
        "rotation": [
            -0.0008850417798385024,
            0.43496692180633545,
            90.092529296875
        ],
        "velocity": [
            -0.00950545258820057,
            4.98807954788208,
            0.03503984212875366
        ],
        "speed": 4.988088604829349,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.147049903869629,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.052490234375,
                2494.921142578125,
                365.080810546875
            ],
            "velocity": [
                -0.021883316338062286,
                2.9101390838623047,
                0.017532434314489365
            ],
            "speed_kmh": 10.476987017344253,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782470703125,
                        "y": 2571.107421875,
                        "z": 365.082763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8757436871528625,
                "transform": {
                    "location": {
                        "x": 2236.901123046875,
                        "y": 2524.329833984375,
                        "z": 366.5389099121094
                    },
                    "rotation": {
                        "roll": -0.0027465822640806437,
                        "pitch": -1.7198210954666138,
                        "yaw": 179.9110870361328
                    }
                },
                "velocity": {
                    "x": -0.8739297389984131,
                    "y": -0.012180215679109097,
                    "z": 0.05500410869717598
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13119201362133026,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7962951660156
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.21765080094337463,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0004937215126119554,
                    "y": -4.007431925856508e-05,
                    "z": 0.13119107484817505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5825173854827881,
                "transform": {
                    "location": {
                        "x": 2145.9423828125,
                        "y": 2524.530029296875,
                        "z": 364.7991027832031
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": 0.26112493872642517,
                        "yaw": 179.8835906982422
                    }
                },
                "velocity": {
                    "x": -0.5823572278022766,
                    "y": -0.005454258061945438,
                    "z": 0.012522983364760876
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.309895038604736,
                "transform": {
                    "location": {
                        "x": 2187.94921875,
                        "y": 2499.69140625,
                        "z": 365.07080078125
                    },
                    "rotation": {
                        "roll": 0.01233579684048891,
                        "pitch": -0.5173048377037048,
                        "yaw": -89.8337631225586
                    }
                },
                "velocity": {
                    "x": 0.017719537019729614,
                    "y": -7.309775352478027,
                    "z": -0.03789326921105385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.41680243611335754,
                "transform": {
                    "location": {
                        "x": 2185.07373046875,
                        "y": 2454.939208984375,
                        "z": 364.7189636230469
                    },
                    "rotation": {
                        "roll": 0.01987331733107567,
                        "pitch": -0.9804940819740295,
                        "yaw": 90.73204040527344
                    }
                },
                "velocity": {
                    "x": -0.0015578734455630183,
                    "y": 0.4167757034301758,
                    "z": 0.004456453025341034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.521803379058838,
                "transform": {
                    "location": {
                        "x": 2185.076416015625,
                        "y": 2466.112060546875,
                        "z": 364.8305358886719
                    },
                    "rotation": {
                        "roll": 0.0025296288076788187,
                        "pitch": 0.8389862179756165,
                        "yaw": 90.40413665771484
                    }
                },
                "velocity": {
                    "x": -0.031841643154621124,
                    "y": 4.5214972496032715,
                    "z": 0.04185624048113823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.910274028778076,
                "transform": {
                    "location": {
                        "x": 2185.052490234375,
                        "y": 2494.921142578125,
                        "z": 365.080810546875
                    },
                    "rotation": {
                        "roll": 0.0036444130819290876,
                        "pitch": 0.4105285108089447,
                        "yaw": 90.48928833007812
                    }
                },
                "velocity": {
                    "x": -0.021883316338062286,
                    "y": 2.9101390838623047,
                    "z": 0.017532434314489365
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.603749428293668e-05,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.888671875,
                        "z": 365.1136779785156
                    },
                    "rotation": {
                        "roll": 0.0004824494244530797,
                        "pitch": 0.09229633957147598,
                        "yaw": 90.47112274169922
                    }
                },
                "velocity": {
                    "x": 3.3508636988699436e-05,
                    "y": 1.2218300071253907e-05,
                    "z": 5.156105544301681e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0011617826530709863,
        "expert_target_speed": 5.618293826990485,
        "target_point": [
            34.75660195634958,
            -0.022641507372219344
        ],
        "target_point_next": [
            43.70398106722478,
            8.884673847110374
        ]
    },
    "70": {
        "acceleration": [
            -0.0033561326563358307,
            -0.9492778778076172,
            0.0023124366998672485
        ],
        "angular_velocity": [
            -0.2876037359237671,
            -0.027824584394693375,
            0.0388096384704113
        ],
        "forward_vector": [
            -0.0017736013978719711,
            0.9999775290489197,
            0.006467892788350582
        ],
        "right_vector": [
            -0.9999984502792358,
            -0.0017736592562869191,
            3.1953675261320313e-06
        ],
        "location": [
            2185.123779296875,
            2481.999267578125,
            364.9578552246094
        ],
        "rotation": [
            -0.00018308490689378232,
            0.370585560798645,
            90.10162353515625
        ],
        "velocity": [
            -0.009539064951241016,
            4.796011447906494,
            0.036657627671957016
        ],
        "speed": 4.796020934296502,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.830647468566895,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.04541015625,
                2495.8291015625,
                365.0857238769531
            ],
            "velocity": [
                -0.03181850537657738,
                4.280768871307373,
                0.025649746879935265
            ],
            "speed_kmh": 15.411470268418348,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2569.023681640625,
                        "z": 365.0933837890625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6542577743530273,
                "transform": {
                    "location": {
                        "x": 2236.564208984375,
                        "y": 2524.327392578125,
                        "z": 366.5385437011719
                    },
                    "rotation": {
                        "roll": -0.00506591796875,
                        "pitch": -1.7005325555801392,
                        "yaw": -179.95005798339844
                    }
                },
                "velocity": {
                    "x": -1.6537526845932007,
                    "y": -0.013132505118846893,
                    "z": -0.0387100875377655
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8074110746383667,
                "transform": {
                    "location": {
                        "x": 2136.10546875,
                        "y": 2527.303466796875,
                        "z": 364.8096923828125
                    },
                    "rotation": {
                        "roll": 0.006589163560420275,
                        "pitch": -0.3677031993865967,
                        "yaw": -0.0524902269244194
                    }
                },
                "velocity": {
                    "x": 1.8072658777236938,
                    "y": 0.02288661152124405,
                    "z": 0.001058874069713056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6607292890548706,
                "transform": {
                    "location": {
                        "x": 2145.63525390625,
                        "y": 2524.528076171875,
                        "z": 364.8008117675781
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": 0.3237372934818268,
                        "yaw": 179.99459838867188
                    }
                },
                "velocity": {
                    "x": -1.6606223583221436,
                    "y": -0.015975171700119972,
                    "z": 0.01000217441469431
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3236500918865204,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8682861328125
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.21779422461986542,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": -0.0012259624199941754,
                    "y": -2.2051352061680518e-05,
                    "z": -0.32364776730537415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.175021171569824,
                "transform": {
                    "location": {
                        "x": 2187.953369140625,
                        "y": 2497.764404296875,
                        "z": 365.0592041015625
                    },
                    "rotation": {
                        "roll": 0.00594131276011467,
                        "pitch": -0.17904657125473022,
                        "yaw": -89.86410522460938
                    }
                },
                "velocity": {
                    "x": 0.01790253445506096,
                    "y": -8.174871444702148,
                    "z": -0.04623236879706383
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4730430841445923,
                "transform": {
                    "location": {
                        "x": 2185.07177734375,
                        "y": 2455.21875,
                        "z": 364.71728515625
                    },
                    "rotation": {
                        "roll": 0.015946870669722557,
                        "pitch": 0.3008561432361603,
                        "yaw": 90.69175720214844
                    }
                },
                "velocity": {
                    "x": -0.007507560774683952,
                    "y": 1.4729450941085815,
                    "z": 0.015242299996316433
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.382433891296387,
                "transform": {
                    "location": {
                        "x": 2185.0693359375,
                        "y": 2467.3974609375,
                        "z": 364.8426208496094
                    },
                    "rotation": {
                        "roll": 0.008735775016248226,
                        "pitch": 0.7444086074829102,
                        "yaw": 90.34318542480469
                    }
                },
                "velocity": {
                    "x": -0.025970183312892914,
                    "y": 5.38215446472168,
                    "z": 0.04827391356229782
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.280963897705078,
                "transform": {
                    "location": {
                        "x": 2185.04541015625,
                        "y": 2495.8291015625,
                        "z": 365.0857238769531
                    },
                    "rotation": {
                        "roll": 0.0029474368784576654,
                        "pitch": 0.4804832935333252,
                        "yaw": 90.46354675292969
                    }
                },
                "velocity": {
                    "x": -0.03181850537657738,
                    "y": 4.280768871307373,
                    "z": 0.025649746879935265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007833823328837752,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.88916015625,
                        "z": 365.1130676269531
                    },
                    "rotation": {
                        "roll": 0.00013132154708728194,
                        "pitch": 0.15856283903121948,
                        "yaw": 90.47116088867188
                    }
                },
                "velocity": {
                    "x": -1.422452896804316e-05,
                    "y": -7.835429278202355e-05,
                    "z": -0.0007793241529725492
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.004984515253454447,
        "expert_target_speed": 5.464593247209059,
        "target_point": [
            33.53223128711154,
            -0.02744826933703371
        ],
        "target_point_next": [
            42.48084204072922,
            8.878629731565807
        ]
    },
    "75": {
        "acceleration": [
            0.0012798048555850983,
            -2.2669124603271484,
            -0.02122916281223297
        ],
        "angular_velocity": [
            -0.41844624280929565,
            -0.03941750153899193,
            0.035916637629270554
        ],
        "forward_vector": [
            -0.001937168650329113,
            0.9999853372573853,
            0.005066253710538149
        ],
        "right_vector": [
            -0.999998152256012,
            -0.0019371762173250318,
            -3.4009569844783982e-06
        ],
        "location": [
            2185.1220703125,
            2483.15234375,
            364.9664611816406
        ],
        "rotation": [
            0.00019486297969706357,
            0.2902761995792389,
            90.11099243164062
        ],
        "velocity": [
            -0.009475674480199814,
            4.384348392486572,
            0.03162160888314247
        ],
        "speed": 4.38435863212699,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.905372619628906,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.037841796875,
                2497.056884765625,
                365.0931091308594
            ],
            "velocity": [
                -0.022882243618369102,
                5.216113567352295,
                0.028959693387150764
            ],
            "speed_kmh": 18.778478931725616,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.786865234375,
                        "y": 2566.93994140625,
                        "z": 365.1038513183594
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.7348852157592773,
                "transform": {
                    "location": {
                        "x": 2236.040283203125,
                        "y": 2524.323974609375,
                        "z": 366.52374267578125
                    },
                    "rotation": {
                        "roll": -0.009094239212572575,
                        "pitch": -1.678949236869812,
                        "yaw": -179.85360717773438
                    }
                },
                "velocity": {
                    "x": -2.7335784435272217,
                    "y": -0.021239828318357468,
                    "z": -0.08182233572006226
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1441855430603027,
                "transform": {
                    "location": {
                        "x": 2136.753173828125,
                        "y": 2527.310302734375,
                        "z": 364.8069152832031
                    },
                    "rotation": {
                        "roll": 0.004361080005764961,
                        "pitch": -0.37520959973335266,
                        "yaw": 0.15138356387615204
                    }
                },
                "velocity": {
                    "x": 3.14387845993042,
                    "y": 0.04168357327580452,
                    "z": -0.013885716907680035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.756089448928833,
                "transform": {
                    "location": {
                        "x": 2145.085693359375,
                        "y": 2524.52392578125,
                        "z": 364.8030700683594
                    },
                    "rotation": {
                        "roll": -0.0030212397687137127,
                        "pitch": 0.3325345814228058,
                        "yaw": -179.8534393310547
                    }
                },
                "velocity": {
                    "x": -2.755934953689575,
                    "y": -0.027369365096092224,
                    "z": 0.01012883149087429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.03832677751779556,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8306579589844
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.21740490198135376,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": -0.00014109622861724347,
                    "y": 4.039035047753714e-06,
                    "z": -0.03832651674747467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.162426948547363,
                "transform": {
                    "location": {
                        "x": 2187.957275390625,
                        "y": 2495.687255859375,
                        "z": 365.0475769042969
                    },
                    "rotation": {
                        "roll": 0.003697770182043314,
                        "pitch": -0.25452014803886414,
                        "yaw": -89.87344360351562
                    }
                },
                "velocity": {
                    "x": 0.016390947625041008,
                    "y": -8.162263870239258,
                    "z": -0.04904315248131752
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.261016845703125,
                "transform": {
                    "location": {
                        "x": 2185.069580078125,
                        "y": 2455.7109375,
                        "z": 364.72064208984375
                    },
                    "rotation": {
                        "roll": 0.014136054553091526,
                        "pitch": 0.7767427563667297,
                        "yaw": 90.58242797851562
                    }
                },
                "velocity": {
                    "x": -0.011181740090250969,
                    "y": 2.2608578205108643,
                    "z": 0.02438458427786827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.70984411239624,
                "transform": {
                    "location": {
                        "x": 2185.0634765625,
                        "y": 2468.76708984375,
                        "z": 364.85498046875
                    },
                    "rotation": {
                        "roll": 0.0039732325822114944,
                        "pitch": 0.6080848574638367,
                        "yaw": 90.26892852783203
                    }
                },
                "velocity": {
                    "x": -0.027024321258068085,
                    "y": 5.709560871124268,
                    "z": 0.0500590018928051
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.216244220733643,
                "transform": {
                    "location": {
                        "x": 2185.037841796875,
                        "y": 2497.056884765625,
                        "z": 365.0931091308594
                    },
                    "rotation": {
                        "roll": 0.005119452252984047,
                        "pitch": 0.451632559299469,
                        "yaw": 90.3786392211914
                    }
                },
                "velocity": {
                    "x": -0.022882243618369102,
                    "y": 5.216113567352295,
                    "z": 0.028959693387150764
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003650274593383074,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.889404296875,
                        "z": 365.1128845214844
                    },
                    "rotation": {
                        "roll": 0.0006782262353226542,
                        "pitch": 0.17596615850925446,
                        "yaw": 90.47113800048828
                    }
                },
                "velocity": {
                    "x": -1.0054546692117583e-05,
                    "y": -1.186951976706041e-05,
                    "z": -0.00036469585029408336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0053656455129384995,
        "expert_target_speed": 5.1349913713529025,
        "target_point": [
            32.3791501639616,
            -0.031241665317863956
        ],
        "target_point_next": [
            41.32890321942119,
            8.873688431219618
        ]
    },
    "80": {
        "acceleration": [
            0.0004573352634906769,
            -1.3937568664550781,
            -0.00910889357328415
        ],
        "angular_velocity": [
            0.03730984404683113,
            -0.03046630695462227,
            -0.38210973143577576
        ],
        "forward_vector": [
            -0.002048636320978403,
            0.9999893307685852,
            0.004137384705245495
        ],
        "right_vector": [
            -0.9999979138374329,
            -0.0020486467983573675,
            -1.7217824961335282e-06
        ],
        "location": [
            2185.119873046875,
            2484.18505859375,
            364.9740295410156
        ],
        "rotation": [
            9.865171887213364e-05,
            0.23705536127090454,
            90.11737823486328
        ],
        "velocity": [
            -0.009113732725381851,
            3.9426751136779785,
            0.02857375144958496
        ],
        "speed": 3.942685647136968,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.517539024353027,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.0234375,
                2497.70166015625,
                365.1007385253906
            ],
            "velocity": [
                -0.003890876891091466,
                0.00626685144379735,
                -7.710948557360098e-05
            ],
            "speed_kmh": 0.026556752710268222,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7890625,
                        "y": 2564.855712890625,
                        "z": 365.1134338378906
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.153697490692139,
                "transform": {
                    "location": {
                        "x": 2235.18310546875,
                        "y": 2524.318359375,
                        "z": 366.49755859375
                    },
                    "rotation": {
                        "roll": -0.01248168759047985,
                        "pitch": -1.662345051765442,
                        "yaw": -179.73464965820312
                    }
                },
                "velocity": {
                    "x": -4.151671409606934,
                    "y": -0.0316726379096508,
                    "z": -0.12579505145549774
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2725958824157715,
                "transform": {
                    "location": {
                        "x": 2137.684326171875,
                        "y": 2527.32080078125,
                        "z": 364.802734375
                    },
                    "rotation": {
                        "roll": 0.0006227248813956976,
                        "pitch": -0.33541691303253174,
                        "yaw": 0.3794243633747101
                    }
                },
                "velocity": {
                    "x": 4.27217960357666,
                    "y": 0.05751403048634529,
                    "z": -0.015800466760993004
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.137195110321045,
                "transform": {
                    "location": {
                        "x": 2144.217529296875,
                        "y": 2524.516845703125,
                        "z": 364.80609130859375
                    },
                    "rotation": {
                        "roll": -0.0007019043550826609,
                        "pitch": 0.3627171814441681,
                        "yaw": -179.69200134277344
                    }
                },
                "velocity": {
                    "x": -4.136950492858887,
                    "y": -0.04217340424656868,
                    "z": 0.015656517818570137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.005920558702200651,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.82940673828125
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.21724098920822144,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 2.721592682064511e-05,
                    "y": 3.941365775972372e-07,
                    "z": 0.005920495837926865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.830143928527832,
                "transform": {
                    "location": {
                        "x": 2187.961181640625,
                        "y": 2493.7080078125,
                        "z": 365.03607177734375
                    },
                    "rotation": {
                        "roll": 0.004805991426110268,
                        "pitch": -0.4365241825580597,
                        "yaw": -89.8978271484375
                    }
                },
                "velocity": {
                    "x": 0.012704412452876568,
                    "y": -7.829984664916992,
                    "z": -0.048363037407398224
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.41919809579849243,
                "transform": {
                    "location": {
                        "x": 2185.06787109375,
                        "y": 2455.9970703125,
                        "z": 364.72613525390625
                    },
                    "rotation": {
                        "roll": 0.002136373892426491,
                        "pitch": 0.13095520436763763,
                        "yaw": 90.4703369140625
                    }
                },
                "velocity": {
                    "x": -0.001725169364362955,
                    "y": 0.41917601227760315,
                    "z": 0.00393957132473588
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.122104167938232,
                "transform": {
                    "location": {
                        "x": 2185.056884765625,
                        "y": 2470.484619140625,
                        "z": 364.8701171875
                    },
                    "rotation": {
                        "roll": 0.00552682438865304,
                        "pitch": 0.7132492661476135,
                        "yaw": 90.19998168945312
                    }
                },
                "velocity": {
                    "x": -0.026790061965584755,
                    "y": 7.121762752532959,
                    "z": 0.06436730921268463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.007376875262707472,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2497.70166015625,
                        "z": 365.1007385253906
                    },
                    "rotation": {
                        "roll": 0.0021617994643747807,
                        "pitch": -0.05913577601313591,
                        "yaw": 89.16789245605469
                    }
                },
                "velocity": {
                    "x": -0.003890876891091466,
                    "y": 0.00626685144379735,
                    "z": -7.710948557360098e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011139718117192388,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.889404296875,
                        "z": 365.11285400390625
                    },
                    "rotation": {
                        "roll": 0.0003809583140537143,
                        "pitch": 0.18052871525287628,
                        "yaw": 90.47114562988281
                    }
                },
                "velocity": {
                    "x": 1.0812917025759816e-05,
                    "y": -2.772323796307319e-06,
                    "z": -0.00111391581594944
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.006306224036961794,
        "expert_target_speed": 4.565081259552712,
        "target_point": [
            31.34642796086251,
            -0.03613203453258332
        ],
        "target_point_next": [
            40.297509977725404,
            8.867462211912
        ]
    },
    "85": {
        "acceleration": [
            -0.0004123896360397339,
            -0.4269266128540039,
            -0.007664710283279419
        ],
        "angular_velocity": [
            0.23891720175743103,
            -0.06161053106188774,
            0.5207915306091309
        ],
        "forward_vector": [
            -0.002267614472657442,
            0.9999858736991882,
            0.004804592113941908
        ],
        "right_vector": [
            -0.9999974370002747,
            -0.002267692005261779,
            1.0652466698957141e-05
        ],
        "location": [
            2185.1181640625,
            2485.137451171875,
            364.98065185546875
        ],
        "rotation": [
            -0.0006103484192863107,
            0.27528393268585205,
            90.12992858886719
        ],
        "velocity": [
            -0.008991003036499023,
            3.726033926010132,
            0.025559643283486366
        ],
        "speed": 3.726044773739854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.729902267456055,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.023681640625,
                2497.866455078125,
                365.0987548828125
            ],
            "velocity": [
                -0.003218886209651828,
                1.3206466436386108,
                0.006374645046889782
            ],
            "speed_kmh": 4.754397424351119,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.791259765625,
                        "y": 2562.819580078125,
                        "z": 365.121826171875
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.354357719421387,
                "transform": {
                    "location": {
                        "x": 2233.960693359375,
                        "y": 2524.31005859375,
                        "z": 366.46026611328125
                    },
                    "rotation": {
                        "roll": -0.01705932430922985,
                        "pitch": -1.6602481603622437,
                        "yaw": -179.60623168945312
                    }
                },
                "velocity": {
                    "x": -5.351686477661133,
                    "y": -0.04169519245624542,
                    "z": -0.16389617323875427
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.278248310089111,
                "transform": {
                    "location": {
                        "x": 2138.89306640625,
                        "y": 2527.328125,
                        "z": 364.79827880859375
                    },
                    "rotation": {
                        "roll": -0.004241943359375,
                        "pitch": -0.32259663939476013,
                        "yaw": 0.35210198163986206
                    }
                },
                "velocity": {
                    "x": 5.278128147125244,
                    "y": 0.030410736799240112,
                    "z": -0.018533438444137573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.327641487121582,
                "transform": {
                    "location": {
                        "x": 2143.017333984375,
                        "y": 2524.505859375,
                        "z": 364.8110046386719
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.3582707345485687,
                        "yaw": -179.54808044433594
                    }
                },
                "velocity": {
                    "x": -5.3273115158081055,
                    "y": -0.055114276707172394,
                    "z": 0.02181512862443924
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0019942850340157747,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8302001953125
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.21711121499538422,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0932571967714466e-05,
                    "y": 3.2356798328692093e-05,
                    "z": 0.0019939925987273455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.155774116516113,
                "transform": {
                    "location": {
                        "x": 2187.96533203125,
                        "y": 2491.70654296875,
                        "z": 365.0230712890625
                    },
                    "rotation": {
                        "roll": 0.0036815779749304056,
                        "pitch": -0.30697599053382874,
                        "yaw": -89.90777587890625
                    }
                },
                "velocity": {
                    "x": 0.01192915253341198,
                    "y": -8.155599594116211,
                    "z": -0.05199646204710007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.355832576751709,
                "transform": {
                    "location": {
                        "x": 2185.066162109375,
                        "y": 2456.251220703125,
                        "z": 364.7269592285156
                    },
                    "rotation": {
                        "roll": 0.00673579890280962,
                        "pitch": 0.649257242679596,
                        "yaw": 90.43489074707031
                    }
                },
                "velocity": {
                    "x": -0.0057322303764522076,
                    "y": 1.3557506799697876,
                    "z": 0.013759240508079529
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.125741004943848,
                "transform": {
                    "location": {
                        "x": 2185.05029296875,
                        "y": 2472.2802734375,
                        "z": 364.88580322265625
                    },
                    "rotation": {
                        "roll": 0.005790658760815859,
                        "pitch": 0.5426858067512512,
                        "yaw": 90.21218872070312
                    }
                },
                "velocity": {
                    "x": -0.022421741858124733,
                    "y": 7.125452518463135,
                    "z": 0.06006915122270584
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.320665955543518,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2497.866455078125,
                        "z": 365.0987548828125
                    },
                    "rotation": {
                        "roll": -0.004516595974564552,
                        "pitch": 0.2793205678462982,
                        "yaw": 89.21148681640625
                    }
                },
                "velocity": {
                    "x": -0.003218886209651828,
                    "y": 1.3206466436386108,
                    "z": 0.006374645046889782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.889404296875,
                        "z": 365.11285400390625
                    },
                    "rotation": {
                        "roll": 0.0003809583140537143,
                        "pitch": 0.18052871525287628,
                        "yaw": 90.47114562988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.008673513308167458,
        "expert_target_speed": 4.316146587894986,
        "target_point": [
            30.39402641238856,
            -0.04172311201325128
        ],
        "target_point_next": [
            39.346823471238565,
            8.860146612992505
        ]
    },
    "90": {
        "acceleration": [
            -0.001873355358839035,
            0.051169395446777344,
            -0.008610524237155914
        ],
        "angular_velocity": [
            0.20133325457572937,
            -0.040577810257673264,
            -0.4522475004196167
        ],
        "forward_vector": [
            -0.0023207664489746094,
            0.9999793767929077,
            0.005990111269056797
        ],
        "right_vector": [
            -0.9999973177909851,
            -0.002320711500942707,
            -1.6118166968226433e-05
        ],
        "location": [
            2185.1162109375,
            2486.06787109375,
            364.9866027832031
        ],
        "rotation": [
            0.0009235194884240627,
            0.3432101607322693,
            90.13297271728516
        ],
        "velocity": [
            -0.009579387493431568,
            3.723256826400757,
            0.02519412897527218
        ],
        "speed": 3.7232691495518537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.243791580200195,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.0244140625,
                2498.310791015625,
                365.1003112792969
            ],
            "velocity": [
                -0.0059468732215464115,
                2.205768346786499,
                0.010742253623902798
            ],
            "speed_kmh": 7.9408890750690295,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.43695068359375
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.793212890625,
                        "y": 2560.878173828125,
                        "z": 365.1296691894531
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.471192359924316,
                "transform": {
                    "location": {
                        "x": 2232.388671875,
                        "y": 2524.29833984375,
                        "z": 366.411865234375
                    },
                    "rotation": {
                        "roll": -0.0187683068215847,
                        "pitch": -1.6165759563446045,
                        "yaw": -179.5399169921875
                    }
                },
                "velocity": {
                    "x": -7.467466354370117,
                    "y": -0.061666760593652725,
                    "z": -0.22772400081157684
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.66152811050415,
                "transform": {
                    "location": {
                        "x": 2140.24169921875,
                        "y": 2527.336181640625,
                        "z": 364.792724609375
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.2773056626319885,
                        "yaw": 0.30387941002845764
                    }
                },
                "velocity": {
                    "x": 5.661407470703125,
                    "y": 0.029992371797561646,
                    "z": -0.021608686074614525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.749798774719238,
                "transform": {
                    "location": {
                        "x": 2141.70849609375,
                        "y": 2524.49462890625,
                        "z": 364.81689453125
                    },
                    "rotation": {
                        "roll": 0.008435306139290333,
                        "pitch": 0.23322363197803497,
                        "yaw": -179.68194580078125
                    }
                },
                "velocity": {
                    "x": -4.749727725982666,
                    "y": -0.022519893944263458,
                    "z": 0.012961196713149548
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005329971318133175,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8303527832031
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.21705657243728638,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.7583539576880867e-06,
                    "y": 8.836069355311338e-06,
                    "z": 0.000532916747033596
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01866626739502,
                "transform": {
                    "location": {
                        "x": 2187.96875,
                        "y": 2489.678466796875,
                        "z": 365.0104675292969
                    },
                    "rotation": {
                        "roll": 0.002098715165629983,
                        "pitch": -0.3805576264858246,
                        "yaw": -89.91474151611328
                    }
                },
                "velocity": {
                    "x": 0.011876781471073627,
                    "y": -8.018484115600586,
                    "z": -0.05277785286307335
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2963011264801025,
                "transform": {
                    "location": {
                        "x": 2185.06396484375,
                        "y": 2456.70751953125,
                        "z": 364.73077392578125
                    },
                    "rotation": {
                        "roll": 0.009906806983053684,
                        "pitch": 0.8985864520072937,
                        "yaw": 90.35218811035156
                    }
                },
                "velocity": {
                    "x": -0.0066245803609490395,
                    "y": 2.2961723804473877,
                    "z": 0.023405998945236206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7828328609466553,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2473.661865234375,
                        "z": 364.8970642089844
                    },
                    "rotation": {
                        "roll": 0.0010697771795094013,
                        "pitch": -0.18453803658485413,
                        "yaw": 89.78169250488281
                    }
                },
                "velocity": {
                    "x": -0.02080032043159008,
                    "y": 2.782667398452759,
                    "z": 0.022100981324911118
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2058024406433105,
                "transform": {
                    "location": {
                        "x": 2185.0244140625,
                        "y": 2498.310791015625,
                        "z": 365.1003112792969
                    },
                    "rotation": {
                        "roll": -0.006652856711298227,
                        "pitch": 0.38016146421432495,
                        "yaw": 89.42022705078125
                    }
                },
                "velocity": {
                    "x": -0.0059468732215464115,
                    "y": 2.205768346786499,
                    "z": 0.010742253623902798
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.889404296875,
                        "z": 365.11285400390625
                    },
                    "rotation": {
                        "roll": 0.0003809583140537143,
                        "pitch": 0.18052871525287628,
                        "yaw": 90.47114562988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.009420433081686497,
        "expert_target_speed": 4.27087705727735,
        "target_point": [
            29.46360336297947,
            -0.04233512778840287
        ],
        "target_point_next": [
            38.41663175725958,
            8.859301932277653
        ]
    },
    "95": {
        "acceleration": [
            -0.0021476298570632935,
            0.1503467559814453,
            0.005907826125621796
        ],
        "angular_velocity": [
            0.05589746683835983,
            0.033989228308200836,
            0.507727324962616
        ],
        "forward_vector": [
            -0.0025405760388821363,
            0.9999758005142212,
            0.006480409763753414
        ],
        "right_vector": [
            -0.9999967813491821,
            -0.0025405699852854013,
            -9.165843039227184e-06
        ],
        "location": [
            2185.1142578125,
            2487.00048828125,
            364.9927673339844
        ],
        "rotation": [
            0.0005251751281321049,
            0.3713027238845825,
            90.14556884765625
        ],
        "velocity": [
            -0.01013894286006689,
            3.7426085472106934,
            0.025964898988604546
        ],
        "speed": 3.742622280676592,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.647608757019043,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.0244140625,
                2498.647216796875,
                365.1042785644531
            ],
            "velocity": [
                -7.14379784767516e-05,
                0.0005420779925771058,
                0.0008100888808257878
            ],
            "speed_kmh": 0.0035184285196904735,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.779052734375,
                        "y": 2574.572021484375,
                        "z": 365.0730895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.79541015625,
                        "y": 2559.02783203125,
                        "z": 365.1355895996094
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": 0.15881554782390594,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.45496940612793,
                "transform": {
                    "location": {
                        "x": 2230.346923828125,
                        "y": 2524.285400390625,
                        "z": 366.349609375
                    },
                    "rotation": {
                        "roll": -0.008087158203125,
                        "pitch": -1.681059718132019,
                        "yaw": -179.67062377929688
                    }
                },
                "velocity": {
                    "x": -8.450814247131348,
                    "y": -0.027690831571817398,
                    "z": -0.2635763883590698
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.796605110168457,
                "transform": {
                    "location": {
                        "x": 2141.7509765625,
                        "y": 2527.34423828125,
                        "z": 364.78729248046875
                    },
                    "rotation": {
                        "roll": -0.0027465817984193563,
                        "pitch": -0.3230884075164795,
                        "yaw": 0.30526503920555115
                    }
                },
                "velocity": {
                    "x": 6.796462059020996,
                    "y": 0.03614448383450508,
                    "z": -0.025316214188933372
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1324637532234192,
                "transform": {
                    "location": {
                        "x": 2141.096923828125,
                        "y": 2524.491943359375,
                        "z": 364.8224182128906
                    },
                    "rotation": {
                        "roll": 0.004430154804140329,
                        "pitch": -0.15820766985416412,
                        "yaw": -179.68038940429688
                    }
                },
                "velocity": {
                    "x": -0.1324576586484909,
                    "y": 0.000721561664249748,
                    "z": 0.001045551267452538
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0017018088838085532,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.83038330078125
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1807642295025289e-05,
                    "y": -4.97897815421311e-07,
                    "z": 0.0017017679056152701
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.980093002319336,
                "transform": {
                    "location": {
                        "x": 2187.97119140625,
                        "y": 2487.68798828125,
                        "z": 364.99761962890625
                    },
                    "rotation": {
                        "roll": 0.002215875778347254,
                        "pitch": -0.3965402841567993,
                        "yaw": -89.92388153076172
                    }
                },
                "velocity": {
                    "x": 0.010517177172005177,
                    "y": -7.979916095733643,
                    "z": -0.052081722766160965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6353890895843506,
                "transform": {
                    "location": {
                        "x": 2185.061767578125,
                        "y": 2457.44775390625,
                        "z": 364.7378845214844
                    },
                    "rotation": {
                        "roll": 0.008752841502428055,
                        "pitch": 1.0987520217895508,
                        "yaw": 90.27572631835938
                    }
                },
                "velocity": {
                    "x": -0.009424532763659954,
                    "y": 3.6351726055145264,
                    "z": 0.03854601830244064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.872637927532196,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2473.850341796875,
                        "z": 364.8986511230469
                    },
                    "rotation": {
                        "roll": 0.011489249765872955,
                        "pitch": -0.004214226268231869,
                        "yaw": 89.79325866699219
                    }
                },
                "velocity": {
                    "x": -0.0028576015029102564,
                    "y": 0.8726033568382263,
                    "z": 0.007222251500934362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009773412020877004,
                "transform": {
                    "location": {
                        "x": 2185.0244140625,
                        "y": 2498.647216796875,
                        "z": 365.1042785644531
                    },
                    "rotation": {
                        "roll": 0.0026633930392563343,
                        "pitch": 0.12344200164079666,
                        "yaw": 89.53522491455078
                    }
                },
                "velocity": {
                    "x": -7.14379784767516e-05,
                    "y": 0.0005420779925771058,
                    "z": 0.0008100888808257878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.889404296875,
                        "z": 365.11285400390625
                    },
                    "rotation": {
                        "roll": 0.0003809583140537143,
                        "pitch": 0.18052871525287628,
                        "yaw": 90.47114562988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.011787415482103825,
        "expert_target_speed": 4.08825277651747,
        "target_point": [
            28.530972866248124,
            -0.04919944128529304
        ],
        "target_point_next": [
            37.48619970641787,
            8.850225934492116
        ]
    },
    "100": {
        "acceleration": [
            -0.0029098428785800934,
            0.38704395294189453,
            0.0014337524771690369
        ],
        "angular_velocity": [
            0.10334320366382599,
            -0.05341817066073418,
            -0.4089817702770233
        ],
        "forward_vector": [
            -0.0026004116516560316,
            0.9999732971191406,
            0.00682837376371026
        ],
        "right_vector": [
            -0.9999966025352478,
            -0.0026005012914538383,
            4.261033154762117e-06
        ],
        "location": [
            2185.112548828125,
            2487.94482421875,
            364.9989318847656
        ],
        "rotation": [
            -0.00024414490326307714,
            0.39124003052711487,
            90.14899444580078
        ],
        "velocity": [
            -0.010836724191904068,
            3.817427635192871,
            0.02514168620109558
        ],
        "speed": 3.8174430165394018,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.887577056884766,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.024658203125,
                2498.83154296875,
                365.1036682128906
            ],
            "velocity": [
                -0.003429002594202757,
                1.222902536392212,
                0.006691236514598131
            ],
            "speed_kmh": 4.402532338221186,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.96990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78076171875,
                        "y": 2572.790771484375,
                        "z": 365.0780334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.673567771911621,
                "transform": {
                    "location": {
                        "x": 2187.797119140625,
                        "y": 2557.299560546875,
                        "z": 365.14080810546875
                    },
                    "rotation": {
                        "roll": -0.0024719235952943563,
                        "pitch": 0.014923962764441967,
                        "yaw": -89.92985534667969
                    }
                },
                "velocity": {
                    "x": 0.01049268338829279,
                    "y": -5.6735405921936035,
                    "z": 0.014053783379495144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.913812637329102,
                "transform": {
                    "location": {
                        "x": 2228.303466796875,
                        "y": 2524.278564453125,
                        "z": 366.2867126464844
                    },
                    "rotation": {
                        "roll": -0.007141112349927425,
                        "pitch": -1.8123769760131836,
                        "yaw": -179.8275604248047
                    }
                },
                "velocity": {
                    "x": -7.910035610198975,
                    "y": -0.019439324736595154,
                    "z": -0.24369604885578156
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.15627384185791,
                "transform": {
                    "location": {
                        "x": 2143.646484375,
                        "y": 2527.352783203125,
                        "z": 364.7803039550781
                    },
                    "rotation": {
                        "roll": -0.008056640625,
                        "pitch": -0.3539403975009918,
                        "yaw": 0.24779029190540314
                    }
                },
                "velocity": {
                    "x": 8.156201362609863,
                    "y": 0.015097616240382195,
                    "z": -0.030901921913027763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2996125221252441,
                "transform": {
                    "location": {
                        "x": 2140.9326171875,
                        "y": 2524.4912109375,
                        "z": 364.8201904296875
                    },
                    "rotation": {
                        "roll": 0.0029937501531094313,
                        "pitch": 0.17940174043178558,
                        "yaw": -179.70269775390625
                    }
                },
                "velocity": {
                    "x": -1.2995936870574951,
                    "y": -0.005410177167505026,
                    "z": 0.004427118226885796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015541120956186205,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 5.322098786564311e-06,
                    "y": 6.974898496991955e-06,
                    "z": 0.0001551633613416925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.090937614440918,
                "transform": {
                    "location": {
                        "x": 2187.97314453125,
                        "y": 2485.673583984375,
                        "z": 364.98388671875
                    },
                    "rotation": {
                        "roll": 0.0016801422461867332,
                        "pitch": -0.3741509020328522,
                        "yaw": -89.93221282958984
                    }
                },
                "velocity": {
                    "x": 0.009554741904139519,
                    "y": -8.09073543548584,
                    "z": -0.056380484253168106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.9562153816223145,
                "transform": {
                    "location": {
                        "x": 2185.059326171875,
                        "y": 2458.53173828125,
                        "z": 364.7487487792969
                    },
                    "rotation": {
                        "roll": 0.008061696775257587,
                        "pitch": 1.176588773727417,
                        "yaw": 90.20729064941406
                    }
                },
                "velocity": {
                    "x": -0.012081831693649292,
                    "y": 4.955944538116455,
                    "z": 0.05037384852766991
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3549225330352783,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2474.276611328125,
                        "z": 364.90240478515625
                    },
                    "rotation": {
                        "roll": 0.0006958133890293539,
                        "pitch": 0.6238557696342468,
                        "yaw": 89.89895629882812
                    }
                },
                "velocity": {
                    "x": -0.003081949194893241,
                    "y": 2.354851722717285,
                    "z": 0.018000010401010513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2229256629943848,
                "transform": {
                    "location": {
                        "x": 2185.024658203125,
                        "y": 2498.83154296875,
                        "z": 365.1036682128906
                    },
                    "rotation": {
                        "roll": -0.0035705629270523787,
                        "pitch": 0.31757646799087524,
                        "yaw": 89.56067657470703
                    }
                },
                "velocity": {
                    "x": -0.003429002594202757,
                    "y": 1.222902536392212,
                    "z": 0.006691236514598131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.889404296875,
                        "z": 365.11285400390625
                    },
                    "rotation": {
                        "roll": 0.0003809583140537143,
                        "pitch": 0.18052871525287628,
                        "yaw": 90.47114562988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.010960394516587257,
        "expert_target_speed": 4.009925306801811,
        "target_point": [
            27.586633347106716,
            -0.049794870734927325
        ],
        "target_point_next": [
            36.54227392632689,
            8.849214152395248
        ]
    },
    "105": {
        "acceleration": [
            0.000657644122838974,
            0.02246856689453125,
            0.0027536600828170776
        ],
        "angular_velocity": [
            -0.06524784117937088,
            -0.00618158420547843,
            0.45713526010513306
        ],
        "forward_vector": [
            -0.0028158125933259726,
            0.9999710917472839,
            0.007058680523186922
        ],
        "right_vector": [
            -0.9999960064888,
            -0.002815780695527792,
            -1.4452495634031948e-05
        ],
        "location": [
            2185.1103515625,
            2488.910400390625,
            365.0051574707031
        ],
        "rotation": [
            0.0008280876209028065,
            0.4044359624385834,
            90.16133880615234
        ],
        "velocity": [
            -0.011583677493035793,
            3.8833911418914795,
            0.025454988703131676
        ],
        "speed": 3.8834084181947013,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.319206237792969,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.02392578125,
                2499.228759765625,
                365.105224609375
            ],
            "velocity": [
                -0.005974458530545235,
                1.9818363189697266,
                0.010519495233893394
            ],
            "speed_kmh": 7.134743672804476,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1734212636947632,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.191650390625,
                        "z": 364.58038330078125
                    },
                    "rotation": {
                        "roll": 0.0004348148067947477,
                        "pitch": 0.6794125437736511,
                        "yaw": 90.06031036376953
                    }
                },
                "velocity": {
                    "x": -0.00019422163313720375,
                    "y": 0.01338370144367218,
                    "z": -1.1733449697494507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.781982421875,
                        "y": 2571.3798828125,
                        "z": 365.0819396972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.327216625213623,
                "transform": {
                    "location": {
                        "x": 2187.81005859375,
                        "y": 2555.993896484375,
                        "z": 365.14361572265625
                    },
                    "rotation": {
                        "roll": -0.019561760127544403,
                        "pitch": 0.03942384943366051,
                        "yaw": -89.51378631591797
                    }
                },
                "velocity": {
                    "x": 0.0720955953001976,
                    "y": -5.326713562011719,
                    "z": 0.0127008818089962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057377815246582,
                "transform": {
                    "location": {
                        "x": 2226.32373046875,
                        "y": 2524.273681640625,
                        "z": 366.2252197265625
                    },
                    "rotation": {
                        "roll": -0.005645751953125,
                        "pitch": -1.7586028575897217,
                        "yaw": -179.87681579589844
                    }
                },
                "velocity": {
                    "x": -8.053548812866211,
                    "y": -0.006229945924133062,
                    "z": -0.248288094997406
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.135135650634766,
                "transform": {
                    "location": {
                        "x": 2145.7099609375,
                        "y": 2527.35693359375,
                        "z": 364.7716064453125
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": -0.2439880073070526,
                        "yaw": 0.1281365603208542
                    }
                },
                "velocity": {
                    "x": 8.135069847106934,
                    "y": 0.01112522091716528,
                    "z": -0.030725063756108284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1989617347717285,
                "transform": {
                    "location": {
                        "x": 2140.48681640625,
                        "y": 2524.4892578125,
                        "z": 364.8208923339844
                    },
                    "rotation": {
                        "roll": 0.0025393939577043056,
                        "pitch": 0.29472264647483826,
                        "yaw": -179.7124786376953
                    }
                },
                "velocity": {
                    "x": -2.1989312171936035,
                    "y": -0.008907885290682316,
                    "z": 0.007399959489703178
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010384944034740329,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.717459993727971e-06,
                    "y": 6.422967089747544e-06,
                    "z": 0.001038445858284831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.993466854095459,
                "transform": {
                    "location": {
                        "x": 2187.975341796875,
                        "y": 2483.664306640625,
                        "z": 364.9699401855469
                    },
                    "rotation": {
                        "roll": 0.002106332452967763,
                        "pitch": -0.4311215281486511,
                        "yaw": -89.93572235107422
                    }
                },
                "velocity": {
                    "x": 0.008837488479912281,
                    "y": -7.993257999420166,
                    "z": -0.057110052555799484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.367004871368408,
                "transform": {
                    "location": {
                        "x": 2185.055908203125,
                        "y": 2459.856689453125,
                        "z": 364.7633056640625
                    },
                    "rotation": {
                        "roll": 0.005540089216083288,
                        "pitch": 0.9444921612739563,
                        "yaw": 90.17123413085938
                    }
                },
                "velocity": {
                    "x": -0.011527550406754017,
                    "y": 5.36669921875,
                    "z": 0.05609942227602005
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.018909357488155365,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2474.727294921875,
                        "z": 364.9058837890625
                    },
                    "rotation": {
                        "roll": 0.0016134788747876883,
                        "pitch": 0.16672490537166595,
                        "yaw": 90.09587097167969
                    }
                },
                "velocity": {
                    "x": 0.0011730223195627332,
                    "y": 0.018867777660489082,
                    "z": 0.00044136017095297575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9818732738494873,
                "transform": {
                    "location": {
                        "x": 2185.02392578125,
                        "y": 2499.228759765625,
                        "z": 365.105224609375
                    },
                    "rotation": {
                        "roll": -0.004638648126274347,
                        "pitch": 0.3692946434020996,
                        "yaw": 89.69803619384766
                    }
                },
                "velocity": {
                    "x": -0.005974458530545235,
                    "y": 1.9818363189697266,
                    "z": 0.010519495233893394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.889404296875,
                        "z": 365.11285400390625
                    },
                    "rotation": {
                        "roll": 0.0003809583140537143,
                        "pitch": 0.18052871525287628,
                        "yaw": 90.47114562988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.34510281682014465,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01283489353954792,
        "expert_target_speed": 3.9148264760476734,
        "target_point": [
            26.621041936813345,
            -0.055952098282830195
        ],
        "target_point_next": [
            35.578840010551204,
            8.840885173920453
        ]
    },
    "110": {
        "acceleration": [
            0.002456437796354294,
            -1.5957450866699219,
            0.0055599212646484375
        ],
        "angular_velocity": [
            -0.4546160399913788,
            0.0009080549352802336,
            -0.47708889842033386
        ],
        "forward_vector": [
            -0.0028738859109580517,
            0.9999780058860779,
            0.005983793176710606
        ],
        "right_vector": [
            -0.9999958872795105,
            -0.002873946912586689,
            1.5981494243533234e-06
        ],
        "location": [
            2185.1083984375,
            2489.86279296875,
            365.0114440917969
        ],
        "rotation": [
            -9.156885062111542e-05,
            0.34284815192222595,
            90.16466522216797
        ],
        "velocity": [
            -0.01146749034523964,
            3.677258014678955,
            0.025256909430027008
        ],
        "speed": 3.6772758952593465,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.935163497924805,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.0234375,
                2499.797119140625,
                365.10845947265625
            ],
            "velocity": [
                -0.006813349202275276,
                2.0777270793914795,
                0.010923671536147594
            ],
            "speed_kmh": 7.47996107739467,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1494244784116745,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.55718994140625
                    },
                    "rotation": {
                        "roll": 0.0002105769090121612,
                        "pitch": 0.6839819550514221,
                        "yaw": 90.06031036376953
                    }
                },
                "velocity": {
                    "x": -0.00019044689543079585,
                    "y": -0.001774882897734642,
                    "z": 0.1494138091802597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2570.074462890625,
                        "z": 365.0881042480469
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.066163539886475,
                "transform": {
                    "location": {
                        "x": 2187.82373046875,
                        "y": 2554.69580078125,
                        "z": 365.1470947265625
                    },
                    "rotation": {
                        "roll": -0.0007018963224254549,
                        "pitch": 0.09813614934682846,
                        "yaw": -89.43712615966797
                    }
                },
                "velocity": {
                    "x": 0.05022500827908516,
                    "y": -5.0658979415893555,
                    "z": 0.012977895326912403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.066129684448242,
                "transform": {
                    "location": {
                        "x": 2224.291748046875,
                        "y": 2524.272705078125,
                        "z": 366.1629943847656
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": -1.749819278717041,
                        "yaw": -179.97723388671875
                    }
                },
                "velocity": {
                    "x": -8.062362670898438,
                    "y": 0.000992395100183785,
                    "z": -0.24648144841194153
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.933606147766113,
                "transform": {
                    "location": {
                        "x": 2147.707275390625,
                        "y": 2527.3603515625,
                        "z": 364.7635803222656
                    },
                    "rotation": {
                        "roll": 3.082883949900861e-06,
                        "pitch": -0.1972353607416153,
                        "yaw": 0.08941829204559326
                    }
                },
                "velocity": {
                    "x": 7.933544635772705,
                    "y": 0.010541490279138088,
                    "z": -0.029435448348522186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001470993971452117,
                "transform": {
                    "location": {
                        "x": 2140.145751953125,
                        "y": 2524.48681640625,
                        "z": 364.8243408203125
                    },
                    "rotation": {
                        "roll": 0.002375261392444372,
                        "pitch": 0.04406837746500969,
                        "yaw": -179.83712768554688
                    }
                },
                "velocity": {
                    "x": -0.0006204567034728825,
                    "y": 3.001330333063379e-05,
                    "z": 0.0013334001414477825
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006339290412142873,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.478659007465467e-05,
                    "y": -3.534939241944812e-05,
                    "z": 0.0006324571440927684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04389476776123,
                "transform": {
                    "location": {
                        "x": 2187.97705078125,
                        "y": 2481.661376953125,
                        "z": 364.95550537109375
                    },
                    "rotation": {
                        "roll": 0.00035052341991104186,
                        "pitch": -0.4179733991622925,
                        "yaw": -89.9365234375
                    }
                },
                "velocity": {
                    "x": 0.008883392438292503,
                    "y": -8.043672561645508,
                    "z": -0.05909273028373718
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.770801544189453,
                "transform": {
                    "location": {
                        "x": 2185.05224609375,
                        "y": 2461.354736328125,
                        "z": 364.7779541015625
                    },
                    "rotation": {
                        "roll": 0.003824290819466114,
                        "pitch": 1.068910837173462,
                        "yaw": 90.1382827758789
                    }
                },
                "velocity": {
                    "x": -0.014294501394033432,
                    "y": 6.770464897155762,
                    "z": 0.06598514318466187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.055895209312439,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2474.8505859375,
                        "z": 364.9070739746094
                    },
                    "rotation": {
                        "roll": -0.0003967520024161786,
                        "pitch": 0.4830787777900696,
                        "yaw": 90.07023620605469
                    }
                },
                "velocity": {
                    "x": -0.0015620297053828835,
                    "y": 1.0558661222457886,
                    "z": 0.007680005859583616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0777668952941895,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2499.797119140625,
                        "z": 365.10845947265625
                    },
                    "rotation": {
                        "roll": -0.0024719026405364275,
                        "pitch": 0.3308611810207367,
                        "yaw": 89.83126831054688
                    }
                },
                "velocity": {
                    "x": -0.006813349202275276,
                    "y": 2.0777270793914795,
                    "z": 0.010923671536147594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.05858764797449112,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2509.896240234375,
                        "z": 365.11260986328125
                    },
                    "rotation": {
                        "roll": 0.001816966338083148,
                        "pitch": 0.18466098606586456,
                        "yaw": 90.4563217163086
                    }
                },
                "velocity": {
                    "x": -0.000605067063588649,
                    "y": 0.05856914818286896,
                    "z": 0.0013420486357063055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.1446126252412796,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.013554058969020844,
        "expert_target_speed": 3.6012264505439986,
        "target_point": [
            25.668644129847124,
            -0.05682299971010353
        ],
        "target_point_next": [
            34.627000054026624,
            8.83945256445974
        ]
    },
    "115": {
        "acceleration": [
            0.010014157742261887,
            -2.8908491134643555,
            -0.028469860553741455
        ],
        "angular_velocity": [
            -0.5677567720413208,
            -0.02456936240196228,
            0.7322246432304382
        ],
        "forward_vector": [
            -0.0031013719271868467,
            0.9999901652336121,
            0.003155941143631935
        ],
        "right_vector": [
            -0.9999951720237732,
            -0.003101412672549486,
            7.989582627487835e-06
        ],
        "location": [
            2185.1064453125,
            2490.696533203125,
            365.017333984375
        ],
        "rotation": [
            -0.0004577716754283756,
            0.18082241714000702,
            90.17769622802734
        ],
        "velocity": [
            -0.00957324355840683,
            2.999912738800049,
            0.019834546372294426
        ],
        "speed": 2.9999280137041686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.182001113891602,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.023193359375,
                2499.877685546875,
                365.1103820800781
            ],
            "velocity": [
                -2.2970003556110896e-05,
                -0.0008668325608596206,
                0.0014241201570257545
            ],
            "speed_kmh": 0.0060024475945524335,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5405257940292358,
                "transform": {
                    "location": {
                        "x": 2185.16552734375,
                        "y": 2443.382080078125,
                        "z": 364.58160400390625
                    },
                    "rotation": {
                        "roll": -0.0052795615047216415,
                        "pitch": 0.9194526672363281,
                        "yaw": 90.15482330322266
                    }
                },
                "velocity": {
                    "x": -0.015905439853668213,
                    "y": 1.5393444299697876,
                    "z": 0.058185040950775146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.783447265625,
                        "y": 2568.83251953125,
                        "z": 365.0943298339844
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.8870768547058105,
                "transform": {
                    "location": {
                        "x": 2187.835693359375,
                        "y": 2553.461669921875,
                        "z": 365.1496887207031
                    },
                    "rotation": {
                        "roll": 0.0005712452111765742,
                        "pitch": 0.08490607887506485,
                        "yaw": -89.43830871582031
                    }
                },
                "velocity": {
                    "x": 0.04787595570087433,
                    "y": -4.886831760406494,
                    "z": 0.010012645274400711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.552896022796631,
                "transform": {
                    "location": {
                        "x": 2222.341064453125,
                        "y": 2524.27294921875,
                        "z": 366.1036376953125
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -1.783048152923584,
                        "yaw": 179.98541259765625
                    }
                },
                "velocity": {
                    "x": -7.54935359954834,
                    "y": 0.0033153954427689314,
                    "z": -0.23126856982707977
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.814230442047119,
                "transform": {
                    "location": {
                        "x": 2149.684326171875,
                        "y": 2527.3603515625,
                        "z": 364.7561950683594
                    },
                    "rotation": {
                        "roll": -0.0031127927359193563,
                        "pitch": -0.20959118008613586,
                        "yaw": 0.010488905943930149
                    }
                },
                "velocity": {
                    "x": 7.814174652099609,
                    "y": -0.004500149749219418,
                    "z": -0.029173478484153748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001775493728928268,
                "transform": {
                    "location": {
                        "x": 2140.14501953125,
                        "y": 2524.48681640625,
                        "z": 364.8233642578125
                    },
                    "rotation": {
                        "roll": 0.001651833183132112,
                        "pitch": 0.15578977763652802,
                        "yaw": -179.8371124267578
                    }
                },
                "velocity": {
                    "x": 0.0005309441476128995,
                    "y": 3.248572102165781e-05,
                    "z": 0.0016939365305006504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019039027392864227,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7826743714977056e-05,
                    "y": -1.3377297364058904e-05,
                    "z": 0.00018908122729044408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033583641052246,
                "transform": {
                    "location": {
                        "x": 2187.97900390625,
                        "y": 2479.64990234375,
                        "z": 364.94036865234375
                    },
                    "rotation": {
                        "roll": 0.00041230491478927433,
                        "pitch": -0.44250744581222534,
                        "yaw": -89.94003295898438
                    }
                },
                "velocity": {
                    "x": 0.008404928259551525,
                    "y": -8.033349990844727,
                    "z": -0.06065324321389198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.756948947906494,
                "transform": {
                    "location": {
                        "x": 2185.049072265625,
                        "y": 2463.097412109375,
                        "z": 364.7959289550781
                    },
                    "rotation": {
                        "roll": 0.00387199386022985,
                        "pitch": 0.8208179473876953,
                        "yaw": 90.10408020019531
                    }
                },
                "velocity": {
                    "x": -0.011193192563951015,
                    "y": 6.756618499755859,
                    "z": 0.06588884443044662
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.403419017791748,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2475.296142578125,
                        "z": 364.9107971191406
                    },
                    "rotation": {
                        "roll": -0.0008239506860263646,
                        "pitch": 0.686481773853302,
                        "yaw": 90.11483001708984
                    }
                },
                "velocity": {
                    "x": -0.0061639100313186646,
                    "y": 2.4033396244049072,
                    "z": 0.018525123596191406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016673465725034475,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2499.877685546875,
                        "z": 365.1103820800781
                    },
                    "rotation": {
                        "roll": 0.0006747037987224758,
                        "pitch": 0.15696457028388977,
                        "yaw": 89.83628845214844
                    }
                },
                "velocity": {
                    "x": -2.2970003556110896e-05,
                    "y": -0.0008668325608596206,
                    "z": 0.0014241201570257545
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5568153858184814,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2509.975830078125,
                        "z": 365.1130065917969
                    },
                    "rotation": {
                        "roll": 0.0017658608267083764,
                        "pitch": 0.1958010196685791,
                        "yaw": 90.43250274658203
                    }
                },
                "velocity": {
                    "x": -0.004471057094633579,
                    "y": 0.5567929148674011,
                    "z": 0.0022447870578616858
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0158114992082119,
        "expert_target_speed": 2.53016640935297,
        "target_point": [
            24.83488881508777,
            -0.06179708904402689
        ],
        "target_point_next": [
            33.795189516428344,
            8.83251969862904
        ]
    },
    "120": {
        "acceleration": [
            0.0072587840259075165,
            -2.564702033996582,
            -0.021068379282951355
        ],
        "angular_velocity": [
            -0.14754073321819305,
            -0.001215266645886004,
            -0.8882850408554077
        ],
        "forward_vector": [
            -0.003054533852264285,
            0.9999938607215881,
            0.0017194738611578941
        ],
        "right_vector": [
            -0.9999953508377075,
            -0.003054544096812606,
            3.1957749797584256e-06
        ],
        "location": [
            2185.1044921875,
            2491.355712890625,
            365.0218200683594
        ],
        "rotation": [
            -0.0001831046974984929,
            0.09851863980293274,
            90.17501068115234
        ],
        "velocity": [
            -0.007783540524542332,
            2.32228684425354,
            0.015236005187034607
        ],
        "speed": 2.32229988814885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.523543357849121,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.023193359375,
                2499.87841796875,
                365.10943603515625
            ],
            "velocity": [
                -1.73273710970534e-05,
                -0.0002998442214448005,
                0.0017089697066694498
            ],
            "speed_kmh": 0.006246580178141431,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5084,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.8468933105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 2.8961045117625872e-08,
                    "y": -6.366630833642972e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9608564376831055,
                "transform": {
                    "location": {
                        "x": 2185.15966796875,
                        "y": 2443.94873046875,
                        "z": 364.5928955078125
                    },
                    "rotation": {
                        "roll": -0.004547147545963526,
                        "pitch": 0.9639171957969666,
                        "yaw": 90.25684356689453
                    }
                },
                "velocity": {
                    "x": -0.03183818608522415,
                    "y": 2.9603991508483887,
                    "z": 0.04117213934659958
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7861328125,
                        "y": 2567.057373046875,
                        "z": 365.1033020019531
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.662888050079346,
                "transform": {
                    "location": {
                        "x": 2187.848876953125,
                        "y": 2552.142333984375,
                        "z": 365.1530456542969
                    },
                    "rotation": {
                        "roll": 0.0012031208025291562,
                        "pitch": 0.19692116975784302,
                        "yaw": -89.45073699951172
                    }
                },
                "velocity": {
                    "x": 0.05456819757819176,
                    "y": -5.662613868713379,
                    "z": 0.011176147498190403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.137829303741455,
                "transform": {
                    "location": {
                        "x": 2220.5146484375,
                        "y": 2524.2744140625,
                        "z": 366.0481872558594
                    },
                    "rotation": {
                        "roll": -0.00225830078125,
                        "pitch": -1.7642172574996948,
                        "yaw": 179.95571899414062
                    }
                },
                "velocity": {
                    "x": -7.134775161743164,
                    "y": 0.009043179452419281,
                    "z": -0.20859603583812714
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.383798122406006,
                "transform": {
                    "location": {
                        "x": 2151.545654296875,
                        "y": 2527.359619140625,
                        "z": 364.74908447265625
                    },
                    "rotation": {
                        "roll": 0.0004800513561349362,
                        "pitch": -0.05761947110295296,
                        "yaw": -0.013031005859375
                    }
                },
                "velocity": {
                    "x": 6.383787631988525,
                    "y": -0.005263620521873236,
                    "z": -0.010570592246949673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001327678095549345,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8229675292969
                    },
                    "rotation": {
                        "roll": 0.001307532424107194,
                        "pitch": 0.2067156583070755,
                        "yaw": -179.83706665039062
                    }
                },
                "velocity": {
                    "x": 0.00012370139302220196,
                    "y": -1.9573531972127967e-05,
                    "z": 0.001321757910773158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00065471330890432,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.4221240892075002e-05,
                    "y": 1.0755750736279879e-05,
                    "z": 0.0006541766924783587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027558326721191,
                "transform": {
                    "location": {
                        "x": 2187.98095703125,
                        "y": 2477.6435546875,
                        "z": 364.9249267578125
                    },
                    "rotation": {
                        "roll": 0.00014626685879193246,
                        "pitch": -0.4625813663005829,
                        "yaw": -89.93819427490234
                    }
                },
                "velocity": {
                    "x": 0.00981157086789608,
                    "y": -8.027305603027344,
                    "z": -0.06293569505214691
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0691635608673096,
                "transform": {
                    "location": {
                        "x": 2185.047119140625,
                        "y": 2464.309326171875,
                        "z": 364.812255859375
                    },
                    "rotation": {
                        "roll": 0.0011781752109527588,
                        "pitch": -0.515351414680481,
                        "yaw": 90.09444427490234
                    }
                },
                "velocity": {
                    "x": -0.003516789525747299,
                    "y": 2.069082736968994,
                    "z": 0.017942151054739952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9088847637176514,
                "transform": {
                    "location": {
                        "x": 2185.0400390625,
                        "y": 2476.089599609375,
                        "z": 364.9172668457031
                    },
                    "rotation": {
                        "roll": -0.00033572231768630445,
                        "pitch": 0.7555281519889832,
                        "yaw": 90.13469696044922
                    }
                },
                "velocity": {
                    "x": -0.00934680923819542,
                    "y": 3.9087462425231934,
                    "z": 0.03154557943344116
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001735161175020039,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2499.87841796875,
                        "z": 365.10943603515625
                    },
                    "rotation": {
                        "roll": -0.0013732961378991604,
                        "pitch": 0.26484739780426025,
                        "yaw": 89.83628845214844
                    }
                },
                "velocity": {
                    "x": -1.73273710970534e-05,
                    "y": -0.0002998442214448005,
                    "z": 0.0017089697066694498
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1188690662384033,
                "transform": {
                    "location": {
                        "x": 2185.032470703125,
                        "y": 2510.182373046875,
                        "z": 365.1136779785156
                    },
                    "rotation": {
                        "roll": 0.002071547554805875,
                        "pitch": 0.20041823387145996,
                        "yaw": 90.38677978515625
                    }
                },
                "velocity": {
                    "x": -0.00850642565637827,
                    "y": 1.1188337802886963,
                    "z": 0.002579336054623127
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.016434460878372192,
        "expert_target_speed": 1.5245546277036204,
        "target_point": [
            24.175708606097565,
            -0.06076795999573365
        ],
        "target_point_next": [
            33.135665768354706,
            8.833894901993153
        ]
    },
    "125": {
        "acceleration": [
            0.00523637980222702,
            -2.1362829208374023,
            -0.017416570335626602
        ],
        "angular_velocity": [
            0.06443963199853897,
            -0.06473600119352341,
            1.0890575647354126
        ],
        "forward_vector": [
            -0.0033095211256295443,
            0.9999930262565613,
            0.0017111292108893394
        ],
        "right_vector": [
            -0.9999945163726807,
            -0.0033094913233071566,
            -2.0264124032109976e-05
        ],
        "location": [
            2185.1025390625,
            2491.859130859375,
            365.02496337890625
        ],
        "rotation": [
            0.0011610505171120167,
            0.09804052859544754,
            90.18962097167969
        ],
        "velocity": [
            -0.005960203241556883,
            1.7458198070526123,
            0.011673812754452229
        ],
        "speed": 1.745829981046236,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.020122528076172,
        "front_vehicle_info": {
            "id": 5071,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.023193359375,
                2499.87841796875,
                365.1092834472656
            ],
            "velocity": [
                -2.486082121322397e-05,
                -5.647685247822665e-05,
                0.0006817853427492082
            ],
            "speed_kmh": 0.0024644595305154202,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5084,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1708698272705078,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.80096435546875
                    },
                    "rotation": {
                        "roll": 0.0001708373602014035,
                        "pitch": -0.22002770006656647,
                        "yaw": -0.125885009765625
                    }
                },
                "velocity": {
                    "x": -0.004385022912174463,
                    "y": 0.00020106745068915188,
                    "z": -1.1708616018295288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5083,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1301620751619339,
                "transform": {
                    "location": {
                        "x": 2236.939697265625,
                        "y": 2524.330322265625,
                        "z": 366.4903564453125
                    },
                    "rotation": {
                        "roll": 0.0007025022059679031,
                        "pitch": -1.7665326595306396,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 0.003911538980901241,
                    "y": 0.00019558367785066366,
                    "z": -0.13010314106941223
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.469006538391113,
                "transform": {
                    "location": {
                        "x": 2185.148681640625,
                        "y": 2444.889892578125,
                        "z": 364.6046142578125
                    },
                    "rotation": {
                        "roll": -0.004333484452217817,
                        "pitch": 0.9822630882263184,
                        "yaw": 90.46392059326172
                    }
                },
                "velocity": {
                    "x": -0.053954098373651505,
                    "y": 4.468355178833008,
                    "z": 0.053960178047418594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5081,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.787841796875,
                        "y": 2565.635009765625,
                        "z": 365.1100769042969
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5080,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.538290023803711,
                "transform": {
                    "location": {
                        "x": 2187.862060546875,
                        "y": 2550.723876953125,
                        "z": 365.1554870605469
                    },
                    "rotation": {
                        "roll": 0.005018910393118858,
                        "pitch": 0.11028705537319183,
                        "yaw": -89.47872161865234
                    }
                },
                "velocity": {
                    "x": 0.04243849590420723,
                    "y": -5.538119316101074,
                    "z": 0.00963282585144043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5079,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.964625358581543,
                "transform": {
                    "location": {
                        "x": 2218.75048828125,
                        "y": 2524.276123046875,
                        "z": 365.9962463378906
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": -1.6737923622131348,
                        "yaw": 179.93272399902344
                    }
                },
                "velocity": {
                    "x": -6.961648941040039,
                    "y": 0.009526842273771763,
                    "z": -0.2033560574054718
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.732848644256592,
                "transform": {
                    "location": {
                        "x": 2153.016845703125,
                        "y": 2527.35888671875,
                        "z": 364.7466735839844
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.00089475471759215,
                        "yaw": -0.0751037448644638
                    }
                },
                "velocity": {
                    "x": 5.732834339141846,
                    "y": -0.008738267235457897,
                    "z": -0.009426717646420002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014520261902362108,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228759765625
                    },
                    "rotation": {
                        "roll": 0.0014797785552218556,
                        "pitch": 0.2141195833683014,
                        "yaw": -179.83705139160156
                    }
                },
                "velocity": {
                    "x": 3.718849256983958e-05,
                    "y": 2.7301543013891205e-05,
                    "z": 0.0014512930065393448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012548260565381497,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 3.6670267036242876e-06,
                    "y": 9.506269634584896e-06,
                    "z": 0.00012506825441960245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031436920166016,
                "transform": {
                    "location": {
                        "x": 2187.983154296875,
                        "y": 2475.63623046875,
                        "z": 364.9087829589844
                    },
                    "rotation": {
                        "roll": -0.00021363716223277152,
                        "pitch": -0.46338048577308655,
                        "yaw": -89.93599700927734
                    }
                },
                "velocity": {
                    "x": 0.0089826425537467,
                    "y": -8.031166076660156,
                    "z": -0.06536608189344406
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.64308100938797,
                "transform": {
                    "location": {
                        "x": 2185.04736328125,
                        "y": 2464.4189453125,
                        "z": 364.8133239746094
                    },
                    "rotation": {
                        "roll": 0.007210765965282917,
                        "pitch": -0.5681146383285522,
                        "yaw": 90.13124084472656
                    }
                },
                "velocity": {
                    "x": -0.001163174631074071,
                    "y": 0.6430414319038391,
                    "z": 0.00703786825761199
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.318227291107178,
                "transform": {
                    "location": {
                        "x": 2185.038330078125,
                        "y": 2477.25146484375,
                        "z": 364.9268798828125
                    },
                    "rotation": {
                        "roll": 0.0010123151587322354,
                        "pitch": 0.7490872740745544,
                        "yaw": 90.1249008178711
                    }
                },
                "velocity": {
                    "x": -0.011715821921825409,
                    "y": 5.318026065826416,
                    "z": 0.04475314915180206
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006845720927231014,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2499.87841796875,
                        "z": 365.1092834472656
                    },
                    "rotation": {
                        "roll": -0.0018615701701492071,
                        "pitch": 0.2878446578979492,
                        "yaw": 89.83631896972656
                    }
                },
                "velocity": {
                    "x": -2.486082121322397e-05,
                    "y": -5.647685247822665e-05,
                    "z": 0.0006817853427492082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5070,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.614216923713684,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2510.525146484375,
                        "z": 365.1145935058594
                    },
                    "rotation": {
                        "roll": 0.0023917413782328367,
                        "pitch": 0.2011900395154953,
                        "yaw": 90.46360778808594
                    }
                },
                "velocity": {
                    "x": -0.013019136153161526,
                    "y": 1.614158034324646,
                    "z": 0.004548082128167152
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 364.8866271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.01837269775569439,
        "expert_target_speed": 0.5791407381263571,
        "target_point": [
            23.67227145274085,
            -0.06692722827115323
        ],
        "target_point_next": [
            32.63438929583642,
            8.825558562799618
        ]
    },
    "130": {
        "acceleration": [
            0.009676069021224976,
            -1.6913414001464844,
            -0.013380814343690872
        ],
        "angular_velocity": [
            0.16352887451648712,
            0.03551588952541351,
            -1.1573735475540161
        ],
        "forward_vector": [
            -0.003216535085812211,
            0.9999922513961792,
            0.0022648554295301437
        ],
        "right_vector": [
            -0.9999948143959045,
            -0.0032165145967155695,
            -1.2688570677710231e-05
        ],
        "location": [
            2185.1005859375,
            2492.233154296875,
            365.0271301269531
        ],
        "rotation": [
            0.0007270034402608871,
            0.12976676225662231,
            90.18429565429688
        ],
        "velocity": [
            -0.004323867615312338,
            1.2816801071166992,
            0.00877303071320057
        ],
        "speed": 1.2816874005816818,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.35905456542969,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2135.974853515625,
                2527.302490234375,
                364.8865051269531
            ],
            "velocity": [
                0.0,
                0.0,
                -2.450000286102295
            ],
            "speed_kmh": 8.820001029968262,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778564453125,
                        "y": 2574.8583984375,
                        "z": 365.0722961425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.64599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 1.2228262846747384e-07,
                    "y": -2.68819105864182e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.8865051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.431884288787842,
                "transform": {
                    "location": {
                        "x": 2185.132568359375,
                        "y": 2446.17041015625,
                        "z": 364.619873046875
                    },
                    "rotation": {
                        "roll": 0.0007972040912136436,
                        "pitch": 0.9061406850814819,
                        "yaw": 90.63683319091797
                    }
                },
                "velocity": {
                    "x": -0.07152582705020905,
                    "y": 5.431055068969727,
                    "z": 0.06238773092627525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011004453990608454,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 3.687504431582056e-05,
                    "y": -2.5981753424275666e-05,
                    "z": 0.0010995204793289304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011073979549109936,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.854766196629498e-05,
                    "y": -6.986809694353724e-06,
                    "z": 0.0011072205379605293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039060592651367,
                "transform": {
                    "location": {
                        "x": 2187.98486328125,
                        "y": 2473.627197265625,
                        "z": 364.8923034667969
                    },
                    "rotation": {
                        "roll": 0.0003172955184709281,
                        "pitch": -0.4960629642009735,
                        "yaw": -89.9360580444336
                    }
                },
                "velocity": {
                    "x": 0.009001011028885841,
                    "y": -8.03878116607666,
                    "z": -0.06632208079099655
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5317894220352173,
                "transform": {
                    "location": {
                        "x": 2185.04736328125,
                        "y": 2464.708984375,
                        "z": 364.8125
                    },
                    "rotation": {
                        "roll": 0.004285772331058979,
                        "pitch": 0.43312957882881165,
                        "yaw": 90.0962142944336
                    }
                },
                "velocity": {
                    "x": -0.0015510342782363296,
                    "y": 1.531719446182251,
                    "z": 0.014556178823113441
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2512640953063965,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2478.498779296875,
                        "z": 364.9362487792969
                    },
                    "rotation": {
                        "roll": -0.00427244184538722,
                        "pitch": 0.24422022700309753,
                        "yaw": 89.85244750976562
                    }
                },
                "velocity": {
                    "x": -0.01760691963136196,
                    "y": 3.251136302947998,
                    "z": 0.022819194942712784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.01789749599993229,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8913879394531
                    },
                    "rotation": {
                        "roll": 0.0012235206086188555,
                        "pitch": -1.0150753259658813,
                        "yaw": 179.87396240234375
                    }
                },
                "velocity": {
                    "x": -0.0005659109447151423,
                    "y": 3.3336871183564654e-06,
                    "z": 0.017888545989990234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.020512642338871956,
        "expert_target_speed": 2.4528109858220777,
        "target_point": [
            23.29824967743728,
            -0.06551413074282754
        ],
        "target_point_next": [
            32.25955547191381,
            8.827789992911603
        ]
    },
    "135": {
        "acceleration": [
            -0.004933346062898636,
            -1.1647546291351318,
            -0.005898475646972656
        ],
        "angular_velocity": [
            0.20781715214252472,
            0.026786696165800095,
            1.220375895500183
        ],
        "forward_vector": [
            -0.0034939248580485582,
            0.9999891519546509,
            0.0030864428263157606
        ],
        "right_vector": [
            -0.9999939203262329,
            -0.0034938836470246315,
            -1.8766730136121623e-05
        ],
        "location": [
            2185.099365234375,
            2492.50830078125,
            365.02874755859375
        ],
        "rotation": [
            0.0010752595262601972,
            0.1768404245376587,
            90.20018768310547
        ],
        "velocity": [
            -0.0038807447999715805,
            0.9483060240745544,
            0.005397005006670952
        ],
        "speed": 0.9483139646110311,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.199520111083984,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2135.974365234375,
                2527.302490234375,
                364.74444580078125
            ],
            "velocity": [
                0.0008923538844101131,
                -5.541287100641057e-05,
                0.23330409824848175
            ],
            "speed_kmh": 0.8399009209826465,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.781005859375,
                        "y": 2572.774658203125,
                        "z": 365.0780334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15549211204051971,
                "transform": {
                    "location": {
                        "x": 2236.938720703125,
                        "y": 2524.330322265625,
                        "z": 366.5260925292969
                    },
                    "rotation": {
                        "roll": -0.0001220704143634066,
                        "pitch": -1.7681241035461426,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -0.0047862413339316845,
                    "y": 6.305438000708818e-05,
                    "z": 0.15541842579841614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.23330581188201904,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.74444580078125
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.21829283237457275,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0008923538844101131,
                    "y": -5.541287100641057e-05,
                    "z": 0.23330409824848175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.554673194885254,
                "transform": {
                    "location": {
                        "x": 2185.118408203125,
                        "y": 2447.547119140625,
                        "z": 364.6355285644531
                    },
                    "rotation": {
                        "roll": 0.015051021240651608,
                        "pitch": 0.7413486838340759,
                        "yaw": 90.58143615722656
                    }
                },
                "velocity": {
                    "x": -0.048531655222177505,
                    "y": 5.554089069366455,
                    "z": 0.0643068328499794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00041700407746247947,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.805268220778089e-05,
                    "y": -2.3706683350610547e-05,
                    "z": 0.0004159380914643407
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007940146024338901,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.2658871128223836e-05,
                    "y": -1.7383976228302345e-05,
                    "z": 0.00079372338950634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021225929260254,
                "transform": {
                    "location": {
                        "x": 2187.98681640625,
                        "y": 2471.620361328125,
                        "z": 364.87518310546875
                    },
                    "rotation": {
                        "roll": -0.0004577735089696944,
                        "pitch": -0.5001268982887268,
                        "yaw": -89.93584442138672
                    }
                },
                "velocity": {
                    "x": 0.008905995637178421,
                    "y": -8.020928382873535,
                    "z": -0.068633072078228
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.230607509613037,
                "transform": {
                    "location": {
                        "x": 2185.046875,
                        "y": 2465.20068359375,
                        "z": 364.81597900390625
                    },
                    "rotation": {
                        "roll": 0.00025815528351813555,
                        "pitch": 0.7508904933929443,
                        "yaw": 90.14125061035156
                    }
                },
                "velocity": {
                    "x": -0.00409766985103488,
                    "y": 2.230504035949707,
                    "z": 0.02110932394862175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.009167621843516827,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.678955078125,
                        "z": 364.93743896484375
                    },
                    "rotation": {
                        "roll": 0.01163586787879467,
                        "pitch": -0.13855038583278656,
                        "yaw": 89.77114868164062
                    }
                },
                "velocity": {
                    "x": 0.0006615802412852645,
                    "y": -0.009044766426086426,
                    "z": 0.0013415709836408496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015583166386932135,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": -8.078991959337145e-05,
                    "y": -4.9548179958947e-05,
                    "z": 0.0015554320998489857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.019223609939217567,
        "expert_target_speed": 2.1213088160489315,
        "target_point": [
            23.023082318611838,
            -0.07198553022271777
        ],
        "target_point_next": [
            31.986758322456847,
            8.818929623799423
        ]
    },
    "140": {
        "acceleration": [
            0.004099495708942413,
            0.5270242691040039,
            -0.0019338540732860565
        ],
        "angular_velocity": [
            0.5179265141487122,
            0.016267335042357445,
            -1.0680254697799683
        ],
        "forward_vector": [
            -0.003236774355173111,
            0.9999842047691345,
            0.004599435720592737
        ],
        "right_vector": [
            -0.9999947547912598,
            -0.0032367256935685873,
            -1.8032498701359145e-05
        ],
        "location": [
            2185.09912109375,
            2492.73095703125,
            365.02978515625
        ],
        "rotation": [
            0.00103319704066962,
            0.2635291814804077,
            90.18545532226562
        ],
        "velocity": [
            -0.0036406414583325386,
            0.8939753770828247,
            0.005875368136912584
        ],
        "speed": 0.8939827901590761,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.070701599121094,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2135.974365234375,
                2527.302490234375,
                364.79229736328125
            ],
            "velocity": [
                0.0003706642019096762,
                2.8681508410954848e-05,
                0.09531553834676743
            ],
            "speed_kmh": 0.34313854817155154,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2570.690673828125,
                        "z": 365.08502197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0775607824325562,
                "transform": {
                    "location": {
                        "x": 2236.85205078125,
                        "y": 2524.3291015625,
                        "z": 366.551513671875
                    },
                    "rotation": {
                        "roll": -0.006805418990552425,
                        "pitch": -1.6258512735366821,
                        "yaw": 179.95228576660156
                    }
                },
                "velocity": {
                    "x": -1.0772734880447388,
                    "y": -0.008330761454999447,
                    "z": 0.02344621531665325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.09531626105308533,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.79229736328125
                    },
                    "rotation": {
                        "roll": 0.0006469184882007539,
                        "pitch": -0.218142569065094,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0003706642019096762,
                    "y": 2.8681508410954848e-05,
                    "z": 0.09531553834676743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044536590576172,
                "transform": {
                    "location": {
                        "x": 2185.10400390625,
                        "y": 2449.306396484375,
                        "z": 364.65582275390625
                    },
                    "rotation": {
                        "roll": 0.011505349539220333,
                        "pitch": 1.0332777500152588,
                        "yaw": 90.48174285888672
                    }
                },
                "velocity": {
                    "x": -0.06296645104885101,
                    "y": 8.043757438659668,
                    "z": 0.09252648800611496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.915695409290493e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 7.380991974059725e-06,
                    "y": 1.0258661859552376e-05,
                    "z": 9.834826778387651e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015091680688783526,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7354823285131715e-05,
                    "y": 1.0442688108014408e-05,
                    "z": 0.00014955147344153374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042969703674316,
                "transform": {
                    "location": {
                        "x": 2187.98876953125,
                        "y": 2469.6123046875,
                        "z": 364.8575744628906
                    },
                    "rotation": {
                        "roll": -0.0015563586493954062,
                        "pitch": -0.5144020318984985,
                        "yaw": -89.93408966064453
                    }
                },
                "velocity": {
                    "x": 0.010334876365959644,
                    "y": -8.04263973236084,
                    "z": -0.0721188560128212
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.755779504776001,
                "transform": {
                    "location": {
                        "x": 2185.04736328125,
                        "y": 2465.67919921875,
                        "z": 364.8214416503906
                    },
                    "rotation": {
                        "roll": -0.0003357325040269643,
                        "pitch": 0.49889063835144043,
                        "yaw": 90.28317260742188
                    }
                },
                "velocity": {
                    "x": -0.0030802341643720865,
                    "y": 1.7556883096694946,
                    "z": 0.017626876011490822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0031981179490685463,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.681640625,
                        "z": 364.9376220703125
                    },
                    "rotation": {
                        "roll": 0.0011708078673109412,
                        "pitch": 0.3132529556751251,
                        "yaw": 89.77123260498047
                    }
                },
                "velocity": {
                    "x": 0.0001896519970614463,
                    "y": -0.0028339773416519165,
                    "z": 0.0014698856975883245
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.019189031794667244,
        "expert_target_speed": 2.0669582051140476,
        "target_point": [
            22.800444807069514,
            -0.06537572348657328
        ],
        "target_point_next": [
            31.761750601546034,
            8.827928400167856
        ]
    },
    "145": {
        "acceleration": [
            -0.026040129363536835,
            1.866757869720459,
            -0.00031052157282829285
        ],
        "angular_velocity": [
            0.5939968228340149,
            0.0794089138507843,
            0.6821529269218445
        ],
        "forward_vector": [
            -0.0034151733852922916,
            0.999967634677887,
            0.0072838612832129
        ],
        "right_vector": [
            -0.999994158744812,
            -0.0034152716398239136,
            1.0656658560037613e-06
        ],
        "location": [
            2185.09814453125,
            2492.9990234375,
            365.0309753417969
        ],
        "rotation": [
            -6.10597780905664e-05,
            0.41733819246292114,
            90.1956787109375
        ],
        "velocity": [
            -0.005140154156833887,
            1.2643386125564575,
            0.0066266534850001335
        ],
        "speed": 1.264349061132227,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.74296188354492,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2136.186767578125,
                2527.30419921875,
                364.79925537109375
            ],
            "velocity": [
                1.9939064979553223,
                0.022837838158011436,
                -0.005704145412892103
            ],
            "speed_kmh": 7.178563592963946,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.785400390625,
                        "y": 2568.60693359375,
                        "z": 365.0954895019531
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3537769317626953,
                "transform": {
                    "location": {
                        "x": 2236.4111328125,
                        "y": 2524.325927734375,
                        "z": 366.544677734375
                    },
                    "rotation": {
                        "roll": -0.004852293990552425,
                        "pitch": -1.5734500885009766,
                        "yaw": -179.9615936279297
                    }
                },
                "velocity": {
                    "x": -2.3529345989227295,
                    "y": -0.011031978763639927,
                    "z": -0.06199441850185394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9940454959869385,
                "transform": {
                    "location": {
                        "x": 2136.186767578125,
                        "y": 2527.30419921875,
                        "z": 364.79925537109375
                    },
                    "rotation": {
                        "roll": -0.002044677734375,
                        "pitch": -0.17800837755203247,
                        "yaw": -0.0687255784869194
                    }
                },
                "velocity": {
                    "x": 1.9939064979553223,
                    "y": 0.022837838158011436,
                    "z": -0.005704145412892103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.3235344886779785,
                "transform": {
                    "location": {
                        "x": 2185.089111328125,
                        "y": 2451.257080078125,
                        "z": 364.6777648925781
                    },
                    "rotation": {
                        "roll": 0.007168096490204334,
                        "pitch": 0.6444966197013855,
                        "yaw": 90.43656921386719
                    }
                },
                "velocity": {
                    "x": -0.0545913502573967,
                    "y": 7.3228631019592285,
                    "z": 0.0827939361333847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022854070994071662,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -5.883984158572275e-06,
                    "y": -2.910466537286993e-05,
                    "z": 0.00022660351532977074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007388154626823962,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1043622407669318e-06,
                    "y": -4.6245571866165847e-05,
                    "z": 0.0007373658590950072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022773742675781,
                "transform": {
                    "location": {
                        "x": 2187.990966796875,
                        "y": 2467.604248046875,
                        "z": 364.8394775390625
                    },
                    "rotation": {
                        "roll": -0.00021358630328904837,
                        "pitch": -0.5402815937995911,
                        "yaw": -89.93197631835938
                    }
                },
                "velocity": {
                    "x": 0.00952245481312275,
                    "y": -8.022436141967773,
                    "z": -0.07292727380990982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.273416757583618,
                "transform": {
                    "location": {
                        "x": 2185.04541015625,
                        "y": 2466.1728515625,
                        "z": 364.8255920410156
                    },
                    "rotation": {
                        "roll": 0.0018993105040863156,
                        "pitch": 0.6378645300865173,
                        "yaw": 90.26803588867188
                    }
                },
                "velocity": {
                    "x": -0.005000329576432705,
                    "y": 2.273315668106079,
                    "z": 0.020863303914666176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015913643874228,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.682373046875,
                        "z": 364.9376525878906
                    },
                    "rotation": {
                        "roll": -0.00274658459238708,
                        "pitch": 0.4234580397605896,
                        "yaw": 89.77123260498047
                    }
                },
                "velocity": {
                    "x": 6.319804379018024e-05,
                    "y": -0.0006289128214120865,
                    "z": 0.0014604503521695733
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.023985721170902252,
        "expert_target_speed": 2.434296561836267,
        "target_point": [
            22.532363278666395,
            -0.06993706384169902
        ],
        "target_point_next": [
            31.495424530872523,
            8.821597829928244
        ]
    },
    "150": {
        "acceleration": [
            -0.009129075333476067,
            1.5952110290527344,
            -0.010014716535806656
        ],
        "angular_velocity": [
            0.153807133436203,
            0.003771228017285466,
            -0.9032850861549377
        ],
        "forward_vector": [
            -0.003292236477136612,
            0.9999570846557617,
            0.008657347410917282
        ],
        "right_vector": [
            -0.9999945759773254,
            -0.0032923284452408552,
            -3.6181879750074586e-06
        ],
        "location": [
            2185.09619140625,
            2493.367431640625,
            365.03277587890625
        ],
        "rotation": [
            0.00020731467520818114,
            0.496035635471344,
            90.18863677978516
        ],
        "velocity": [
            -0.006001876667141914,
            1.6528785228729248,
            0.0094847297295928
        ],
        "speed": 1.652889419742927,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.011566162109375,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2136.823974609375,
                2527.31005859375,
                364.79620361328125
            ],
            "velocity": [
                2.986699342727661,
                0.03638719767332077,
                -0.013849753886461258
            ],
            "speed_kmh": 10.753031151616018,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.787109375,
                        "y": 2566.52294921875,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.876680374145508,
                "transform": {
                    "location": {
                        "x": 2235.6337890625,
                        "y": 2524.32177734375,
                        "z": 366.52203369140625
                    },
                    "rotation": {
                        "roll": -0.011199950240552425,
                        "pitch": -1.5311576128005981,
                        "yaw": -179.84288024902344
                    }
                },
                "velocity": {
                    "x": -3.8748586177825928,
                    "y": -0.022327536717057228,
                    "z": -0.11672031879425049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.986953020095825,
                "transform": {
                    "location": {
                        "x": 2136.823974609375,
                        "y": 2527.31005859375,
                        "z": 364.79620361328125
                    },
                    "rotation": {
                        "roll": -0.0029296872671693563,
                        "pitch": -0.1877823770046234,
                        "yaw": 0.1642885059118271
                    }
                },
                "velocity": {
                    "x": 2.986699342727661,
                    "y": 0.03638719767332077,
                    "z": -0.013849753886461258
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.527796983718872,
                "transform": {
                    "location": {
                        "x": 2185.081298828125,
                        "y": 2452.609375,
                        "z": 364.6923828125
                    },
                    "rotation": {
                        "roll": 0.007593413814902306,
                        "pitch": -0.12448018789291382,
                        "yaw": 90.34292602539062
                    }
                },
                "velocity": {
                    "x": -0.013879979960620403,
                    "y": 2.5276248455047607,
                    "z": 0.026022281497716904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016191693430300802,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.98862105916487e-06,
                    "y": 2.1420244138425915e-06,
                    "z": 0.00016159434744622558
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002036116784438491,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.2361108929326292e-05,
                    "y": 2.53244053283197e-07,
                    "z": 0.00020323594799265265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0403470993042,
                "transform": {
                    "location": {
                        "x": 2187.99267578125,
                        "y": 2465.596435546875,
                        "z": 364.8209228515625
                    },
                    "rotation": {
                        "roll": 0.0006733103073202074,
                        "pitch": -0.5383281707763672,
                        "yaw": -89.93191528320312
                    }
                },
                "velocity": {
                    "x": 0.00959994550794363,
                    "y": -8.039995193481445,
                    "z": -0.07457324117422104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01667521335184574,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2466.583251953125,
                        "z": 364.8314514160156
                    },
                    "rotation": {
                        "roll": -0.0006103520863689482,
                        "pitch": 0.08537735790014267,
                        "yaw": 90.24954223632812
                    }
                },
                "velocity": {
                    "x": 0.0005732261925004423,
                    "y": 0.01666300743818283,
                    "z": -0.0002798387431539595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004700598365161568,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.6826171875,
                        "z": 364.9377136230469
                    },
                    "rotation": {
                        "roll": -0.0027465922757983208,
                        "pitch": 0.4448433518409729,
                        "yaw": 89.77127838134766
                    }
                },
                "velocity": {
                    "x": 2.9129059839760885e-05,
                    "y": -0.00011529430776135996,
                    "z": -0.00045476912055164576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.025516174733638763,
        "expert_target_speed": 2.8184984145444294,
        "target_point": [
            22.163959154245365,
            -0.06787782036531158
        ],
        "target_point_next": [
            31.125915865698833,
            8.824770361136167
        ]
    },
    "155": {
        "acceleration": [
            -0.00558171421289444,
            1.9954586029052734,
            0.041839610785245895
        ],
        "angular_velocity": [
            0.1676562875509262,
            -0.0183965265750885,
            0.892192006111145
        ],
        "forward_vector": [
            -0.0035313365515321493,
            0.9999496340751648,
            0.00939128827303648
        ],
        "right_vector": [
            -0.9999937415122986,
            -0.0035316674038767815,
            1.864088699221611e-05
        ],
        "location": [
            2185.09423828125,
            2493.83935546875,
            365.0354919433594
        ],
        "rotation": [
            -0.0010680912528187037,
            0.5380890965461731,
            90.20233917236328
        ],
        "velocity": [
            -0.007771630771458149,
            2.117100477218628,
            0.013244552537798882
        ],
        "speed": 2.117114741549024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.04692077636719,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2137.67578125,
                2527.31884765625,
                364.7927551269531
            ],
            "velocity": [
                3.78112530708313,
                0.049246303737163544,
                -0.01401546411216259
            ],
            "speed_kmh": 13.61329907278599,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78955078125,
                        "y": 2564.440673828125,
                        "z": 365.1151428222656
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.319587230682373,
                "transform": {
                    "location": {
                        "x": 2234.474365234375,
                        "y": 2524.314208984375,
                        "z": 366.4869384765625
                    },
                    "rotation": {
                        "roll": -0.0172119103372097,
                        "pitch": -1.5304540395736694,
                        "yaw": -179.70413208007812
                    }
                },
                "velocity": {
                    "x": -5.3170647621154785,
                    "y": -0.03543673828244209,
                    "z": -0.1599297821521759
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7814719676971436,
                "transform": {
                    "location": {
                        "x": 2137.67578125,
                        "y": 2527.31884765625,
                        "z": 364.7927551269531
                    },
                    "rotation": {
                        "roll": -0.0026245114859193563,
                        "pitch": -0.1976041942834854,
                        "yaw": 0.38837987184524536
                    }
                },
                "velocity": {
                    "x": 3.78112530708313,
                    "y": 0.049246303737163544,
                    "z": -0.01401546411216259
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8139441609382629,
                "transform": {
                    "location": {
                        "x": 2185.08056640625,
                        "y": 2452.767822265625,
                        "z": 364.6941833496094
                    },
                    "rotation": {
                        "roll": 0.0032178768888115883,
                        "pitch": 0.14895959198474884,
                        "yaw": 90.33940887451172
                    }
                },
                "velocity": {
                    "x": -0.0030079823918640614,
                    "y": 0.8138793110847473,
                    "z": 0.009823865257203579
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004998293006792665,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.5222206457110588e-05,
                    "y": -1.2812089153158013e-05,
                    "z": 0.0004994331393390894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009372936910949647,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.536857992818113e-06,
                    "y": 7.262977305799723e-06,
                    "z": 0.0009372352506034076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02511978149414,
                "transform": {
                    "location": {
                        "x": 2187.99462890625,
                        "y": 2463.58837890625,
                        "z": 364.8016357421875
                    },
                    "rotation": {
                        "roll": -0.00018314336193725467,
                        "pitch": -0.5655533075332642,
                        "yaw": -89.92858123779297
                    }
                },
                "velocity": {
                    "x": 0.010013259015977383,
                    "y": -8.024748802185059,
                    "z": -0.0765208825469017
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2762724161148071,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2466.78662109375,
                        "z": 364.8318176269531
                    },
                    "rotation": {
                        "roll": 0.0021915268152952194,
                        "pitch": 0.4793836176395416,
                        "yaw": 90.2398910522461
                    }
                },
                "velocity": {
                    "x": -0.002968239365145564,
                    "y": 1.2762233018875122,
                    "z": 0.010793971829116344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.023328302428126335,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.68701171875,
                        "z": 364.9377746582031
                    },
                    "rotation": {
                        "roll": -0.00283811311237514,
                        "pitch": 0.45536184310913086,
                        "yaw": 89.76647186279297
                    }
                },
                "velocity": {
                    "x": 0.0001710856449790299,
                    "y": 0.023321963846683502,
                    "z": 0.0005162143497727811
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.023955153301358223,
        "expert_target_speed": 3.2755796849998147,
        "target_point": [
            21.692015362201115,
            -0.0732103754306528
        ],
        "target_point_next": [
            30.6559944864246,
            8.817399167138008
        ]
    },
    "160": {
        "acceleration": [
            -0.007302183657884598,
            2.2281312942504883,
            0.011392403393983841
        ],
        "angular_velocity": [
            0.13144439458847046,
            0.03147996589541435,
            -0.7456483244895935
        ],
        "forward_vector": [
            -0.0034791037905961275,
            0.9999435544013977,
            0.010038206353783607
        ],
        "right_vector": [
            -0.9999939203262329,
            -0.003479369916021824,
            9.054782822204288e-06
        ],
        "location": [
            2185.092041015625,
            2494.43701171875,
            365.03912353515625
        ],
        "rotation": [
            -0.0005188269424252212,
            0.5751565098762512,
            90.19934844970703
        ],
        "velocity": [
            -0.010008650831878185,
            2.651074171066284,
            0.015329350717365742
        ],
        "speed": 2.65109306392406,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.85360336303711,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2138.7177734375,
                2527.326171875,
                364.7889099121094
            ],
            "velocity": [
                4.527923107147217,
                0.026707574725151062,
                -0.017231931909918785
            ],
            "speed_kmh": 16.3009247824007,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.300235271453857,
                "transform": {
                    "location": {
                        "x": 2187.795654296875,
                        "y": 2562.61328125,
                        "z": 365.1227722167969
                    },
                    "rotation": {
                        "roll": -0.0298156775534153,
                        "pitch": -0.10061550885438919,
                        "yaw": -89.78014373779297
                    }
                },
                "velocity": {
                    "x": 0.05461404100060463,
                    "y": -6.299938678741455,
                    "z": 0.027388010174036026
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.808035373687744,
                "transform": {
                    "location": {
                        "x": 2233.068603515625,
                        "y": 2524.30419921875,
                        "z": 366.4438171386719
                    },
                    "rotation": {
                        "roll": -0.01739501766860485,
                        "pitch": -1.6405634880065918,
                        "yaw": -179.63568115234375
                    }
                },
                "velocity": {
                    "x": -5.8051605224609375,
                    "y": -0.04245923087000847,
                    "z": -0.17771373689174652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.528034687042236,
                "transform": {
                    "location": {
                        "x": 2138.7177734375,
                        "y": 2527.326171875,
                        "z": 364.7889099121094
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.20004257559776306,
                        "yaw": 0.38228461146354675
                    }
                },
                "velocity": {
                    "x": 4.527923107147217,
                    "y": 0.026707574725151062,
                    "z": -0.017231931909918785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1871657371520996,
                "transform": {
                    "location": {
                        "x": 2185.07861328125,
                        "y": 2453.15185546875,
                        "z": 364.6985778808594
                    },
                    "rotation": {
                        "roll": 0.005099657457321882,
                        "pitch": 0.753649890422821,
                        "yaw": 90.3351058959961
                    }
                },
                "velocity": {
                    "x": -0.010263198055326939,
                    "y": 2.187018394470215,
                    "z": 0.02321431040763855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024165399372577667,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.763552432976212e-07,
                    "y": -2.8409047445165925e-05,
                    "z": -0.0002399782242719084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004000380577053875,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.2643187801586464e-05,
                    "y": 1.0182214282394852e-05,
                    "z": 0.00039970854413695633
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04030704498291,
                "transform": {
                    "location": {
                        "x": 2187.99658203125,
                        "y": 2461.58056640625,
                        "z": 364.7821044921875
                    },
                    "rotation": {
                        "roll": -0.000427255523391068,
                        "pitch": -0.5799239873886108,
                        "yaw": -89.92467498779297
                    }
                },
                "velocity": {
                    "x": 0.010564690455794334,
                    "y": -8.039898872375488,
                    "z": -0.08027333766222
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1440443992614746,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2467.20849609375,
                        "z": 364.8345947265625
                    },
                    "rotation": {
                        "roll": 0.0036951780784875154,
                        "pitch": 0.7766197919845581,
                        "yaw": 90.19537353515625
                    }
                },
                "velocity": {
                    "x": -0.0036133085377514362,
                    "y": 2.1439571380615234,
                    "z": 0.01900332421064377
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15939848124980927,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.722412109375,
                        "z": 364.93798828125
                    },
                    "rotation": {
                        "roll": -0.002868685871362686,
                        "pitch": 0.4449799656867981,
                        "yaw": 89.7481460571289
                    }
                },
                "velocity": {
                    "x": -0.0002798419736791402,
                    "y": 0.15939141809940338,
                    "z": 0.0014742851490154862
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.027587665244936943,
        "expert_target_speed": 3.797704751795657,
        "target_point": [
            21.09435881012139,
            -0.07222181333720865
        ],
        "target_point_next": [
            30.05788218997194,
            8.818847211071493
        ]
    },
    "165": {
        "acceleration": [
            -0.011612419039011002,
            2.400364875793457,
            0.01593969762325287
        ],
        "angular_velocity": [
            0.09293856471776962,
            -0.01943240687251091,
            0.6305210590362549
        ],
        "forward_vector": [
            -0.0037098608445376158,
            0.9999376535415649,
            0.010533018037676811
        ],
        "right_vector": [
            -0.9999931454658508,
            -0.003709983779117465,
            -7.877591997385025e-06
        ],
        "location": [
            2185.089599609375,
            2495.175048828125,
            365.0435485839844
        ],
        "rotation": [
            0.0004513778258115053,
            0.6035086512565613,
            90.21257019042969
        ],
        "velocity": [
            -0.01258993148803711,
            3.2334187030792236,
            0.018511570990085602
        ],
        "speed": 3.2334432136342524,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.424007415771484,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2139.949951171875,
                2527.33349609375,
                364.7843933105469
            ],
            "velocity": [
                5.22829008102417,
                0.030483083799481392,
                -0.017996149137616158
            ],
            "speed_kmh": 18.82227569807864,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.494807720184326,
                "transform": {
                    "location": {
                        "x": 2187.814697265625,
                        "y": 2561.010986328125,
                        "z": 365.12896728515625
                    },
                    "rotation": {
                        "roll": -0.023406976833939552,
                        "pitch": 0.12558668851852417,
                        "yaw": -89.37517547607422
                    }
                },
                "velocity": {
                    "x": 0.09136425703763962,
                    "y": -6.494117736816406,
                    "z": 0.024760760366916656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.659908294677734,
                "transform": {
                    "location": {
                        "x": 2231.431396484375,
                        "y": 2524.291748046875,
                        "z": 366.3938903808594
                    },
                    "rotation": {
                        "roll": -0.0197753868997097,
                        "pitch": -1.4968905448913574,
                        "yaw": -179.5652618408203
                    }
                },
                "velocity": {
                    "x": -7.656073570251465,
                    "y": -0.060063209384679794,
                    "z": -0.23478229343891144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.228409767150879,
                "transform": {
                    "location": {
                        "x": 2139.949951171875,
                        "y": 2527.33349609375,
                        "z": 364.7843933105469
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": -0.20095781981945038,
                        "yaw": 0.3579968810081482
                    }
                },
                "velocity": {
                    "x": 5.22829008102417,
                    "y": 0.030483083799481392,
                    "z": -0.017996149137616158
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1655545234680176,
                "transform": {
                    "location": {
                        "x": 2185.07666015625,
                        "y": 2453.705810546875,
                        "z": 364.7045593261719
                    },
                    "rotation": {
                        "roll": 0.0037091269623488188,
                        "pitch": 0.5556905269622803,
                        "yaw": 90.45988464355469
                    }
                },
                "velocity": {
                    "x": -0.001894913730211556,
                    "y": 1.1654810905456543,
                    "z": 0.012944784015417099
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00043474213453009725,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.679450178926345e-05,
                    "y": 3.930980199129408e-07,
                    "z": -0.0004344174521975219
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.396697163931094e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.343810233986005e-06,
                    "y": 1.1329838116580504e-06,
                    "z": 2.2041445845388807e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025611877441406,
                "transform": {
                    "location": {
                        "x": 2187.998779296875,
                        "y": 2459.572998046875,
                        "z": 364.7618713378906
                    },
                    "rotation": {
                        "roll": -0.0007019185577519238,
                        "pitch": -0.5850808024406433,
                        "yaw": -89.92424774169922
                    }
                },
                "velocity": {
                    "x": 0.010559785179793835,
                    "y": -8.025189399719238,
                    "z": -0.08167018741369247
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0766947269439697,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2467.73486328125,
                        "z": 364.8403015136719
                    },
                    "rotation": {
                        "roll": -3.0496999897877686e-05,
                        "pitch": 0.5237115621566772,
                        "yaw": 90.07759857177734
                    }
                },
                "velocity": {
                    "x": -0.007365054450929165,
                    "y": 1.0766111612319946,
                    "z": 0.011210450902581215
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.215956211090088,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.903076171875,
                        "z": 364.9394836425781
                    },
                    "rotation": {
                        "roll": -0.00399778364226222,
                        "pitch": 0.6130162477493286,
                        "yaw": 89.78165435791016
                    }
                },
                "velocity": {
                    "x": -0.00016900268383324146,
                    "y": 1.2159125804901123,
                    "z": 0.010298156179487705
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.030082445591688156,
        "expert_target_speed": 4.361103032103462,
        "target_point": [
            20.356300343343495,
            -0.0768390406235924
        ],
        "target_point_next": [
            29.321892401436845,
            8.812143962272792
        ]
    },
    "170": {
        "acceleration": [
            -0.014094468206167221,
            2.453427314758301,
            -0.014226548373699188
        ],
        "angular_velocity": [
            0.01875445991754532,
            -0.025877980515360832,
            -0.3007482588291168
        ],
        "forward_vector": [
            -0.003759912448003888,
            0.9999338984489441,
            0.010862493887543678
        ],
        "right_vector": [
            -0.9999929070472717,
            -0.003760089399293065,
            -4.126224212086527e-06
        ],
        "location": [
            2185.085693359375,
            2496.06298828125,
            365.04888916015625
        ],
        "rotation": [
            0.00023642918677069247,
            0.6223872900009155,
            90.21543884277344
        ],
        "velocity": [
            -0.01543901301920414,
            3.8448917865753174,
            0.021540135145187378
        ],
        "speed": 3.844922783827699,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.797706604003906,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2141.316162109375,
                2527.341552734375,
                364.7791748046875
            ],
            "velocity": [
                5.83971643447876,
                0.0332515649497509,
                -0.021695580333471298
            ],
            "speed_kmh": 21.02346504795749,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778564453125,
                        "y": 2574.956298828125,
                        "z": 365.072021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.906894683837891,
                "transform": {
                    "location": {
                        "x": 2187.8310546875,
                        "y": 2559.431884765625,
                        "z": 365.13482666015625
                    },
                    "rotation": {
                        "roll": 0.0047126407735049725,
                        "pitch": 0.0983956977725029,
                        "yaw": -89.40666961669922
                    }
                },
                "velocity": {
                    "x": 0.05658290162682533,
                    "y": -5.906586647033691,
                    "z": 0.020988311618566513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.316617012023926,
                "transform": {
                    "location": {
                        "x": 2229.38330078125,
                        "y": 2524.282470703125,
                        "z": 366.33026123046875
                    },
                    "rotation": {
                        "roll": -0.0030212397687137127,
                        "pitch": -1.6568876504898071,
                        "yaw": -179.75108337402344
                    }
                },
                "velocity": {
                    "x": -8.312530517578125,
                    "y": -0.030842870473861694,
                    "z": -0.2588532865047455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.839851379394531,
                "transform": {
                    "location": {
                        "x": 2141.316162109375,
                        "y": 2527.341552734375,
                        "z": 364.7791748046875
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.202180415391922,
                        "yaw": 0.3288074731826782
                    }
                },
                "velocity": {
                    "x": 5.83971643447876,
                    "y": 0.0332515649497509,
                    "z": -0.021695580333471298
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8526450991630554,
                "transform": {
                    "location": {
                        "x": 2185.076171875,
                        "y": 2453.802978515625,
                        "z": 364.7056579589844
                    },
                    "rotation": {
                        "roll": 0.001572457025758922,
                        "pitch": 0.5515377521514893,
                        "yaw": 90.43949127197266
                    }
                },
                "velocity": {
                    "x": -0.0055789463222026825,
                    "y": 0.8525829315185547,
                    "z": 0.00865374505519867
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003980655164923519,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.5843137589399703e-05,
                    "y": 1.247183172381483e-05,
                    "z": 0.00039755451143719256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006000642315484583,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.5956386050675064e-05,
                    "y": 1.8990245735039935e-05,
                    "z": 0.0005995513638481498
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041003227233887,
                "transform": {
                    "location": {
                        "x": 2188.00048828125,
                        "y": 2457.564697265625,
                        "z": 364.74127197265625
                    },
                    "rotation": {
                        "roll": 0.00015406159218400717,
                        "pitch": -0.6133714318275452,
                        "yaw": -89.92437744140625
                    }
                },
                "velocity": {
                    "x": 0.01063381414860487,
                    "y": -8.040559768676758,
                    "z": -0.08378372341394424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7277969717979431,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2467.81787109375,
                        "z": 364.8420104980469
                    },
                    "rotation": {
                        "roll": 0.0009249422000721097,
                        "pitch": 0.2898322343826294,
                        "yaw": 90.03482818603516
                    }
                },
                "velocity": {
                    "x": -0.0008428387809544802,
                    "y": 0.727769672870636,
                    "z": 0.00624299980700016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8501920104026794,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2479.03173828125,
                        "z": 364.94049072265625
                    },
                    "rotation": {
                        "roll": -0.002685539424419403,
                        "pitch": 0.4977022111415863,
                        "yaw": 89.77173614501953
                    }
                },
                "velocity": {
                    "x": 0.00018058052228298038,
                    "y": 0.850167989730835,
                    "z": 0.006391439121216536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03130611404776573,
        "expert_target_speed": 4.9436301158979115,
        "target_point": [
            19.46834877909246,
            -0.07839043803847916
        ],
        "target_point_next": [
            28.434366805928907,
            8.810162904343578
        ]
    },
    "175": {
        "acceleration": [
            -0.012431740760803223,
            2.2397232055664062,
            0.020960234105587006
        ],
        "angular_velocity": [
            -0.12893304228782654,
            0.04543356969952583,
            0.09134916961193085
        ],
        "forward_vector": [
            -0.003945403732359409,
            0.9999366998672485,
            0.010534568689763546
        ],
        "right_vector": [
            -0.9999921917915344,
            -0.003945802338421345,
            1.7042735635186546e-05
        ],
        "location": [
            2185.081787109375,
            2497.100830078125,
            365.0546875
        ],
        "rotation": [
            -0.0009765310678631067,
            0.6035974621772766,
            90.22606658935547
        ],
        "velocity": [
            -0.018371935933828354,
            4.426542282104492,
            0.023460501804947853
        ],
        "speed": 4.426580407412566,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.9163703918457,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2142.889404296875,
                2527.350341796875,
                364.7731018066406
            ],
            "velocity": [
                6.805795669555664,
                0.03924032673239708,
                -0.02570207044482231
            ],
            "speed_kmh": 24.50144636621503,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.77978515625,
                        "y": 2573.522216796875,
                        "z": 365.0760192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.332677364349365,
                "transform": {
                    "location": {
                        "x": 2187.843505859375,
                        "y": 2558.060302734375,
                        "z": 365.13916015625
                    },
                    "rotation": {
                        "roll": 0.004871122073382139,
                        "pitch": 0.06741396337747574,
                        "yaw": -89.44957733154297
                    }
                },
                "velocity": {
                    "x": 0.04819145426154137,
                    "y": -5.332430839538574,
                    "z": 0.017501162365078926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.940526962280273,
                "transform": {
                    "location": {
                        "x": 2227.359130859375,
                        "y": 2524.276123046875,
                        "z": 366.2673645019531
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -1.7987985610961914,
                        "yaw": -179.83908081054688
                    }
                },
                "velocity": {
                    "x": -7.936643123626709,
                    "y": -0.020945608615875244,
                    "z": -0.24744562804698944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.805957317352295,
                "transform": {
                    "location": {
                        "x": 2142.889404296875,
                        "y": 2527.350341796875,
                        "z": 364.7731018066406
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.19879265129566193,
                        "yaw": 0.350323349237442
                    }
                },
                "velocity": {
                    "x": 6.805795669555664,
                    "y": 0.03924032673239708,
                    "z": -0.02570207044482231
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0261471271514893,
                "transform": {
                    "location": {
                        "x": 2185.07421875,
                        "y": 2454.17333984375,
                        "z": 364.7098388671875
                    },
                    "rotation": {
                        "roll": 0.005390767008066177,
                        "pitch": 0.796352207660675,
                        "yaw": 90.43612670898438
                    }
                },
                "velocity": {
                    "x": -0.010236847214400768,
                    "y": 2.026005744934082,
                    "z": 0.02163328044116497
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001063165400410071,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.4140679923002608e-05,
                    "y": -1.6421781765529886e-05,
                    "z": 0.00010408445086795837
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00024295774346683174,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.852071914589033e-06,
                    "y": -8.547470315534156e-06,
                    "z": 0.0002426459250273183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02437973022461,
                "transform": {
                    "location": {
                        "x": 2188.00244140625,
                        "y": 2455.556884765625,
                        "z": 364.7200012207031
                    },
                    "rotation": {
                        "roll": 0.0001903226220747456,
                        "pitch": -0.6201742887496948,
                        "yaw": -89.92433166503906
                    }
                },
                "velocity": {
                    "x": 0.01060702744871378,
                    "y": -8.02392864227295,
                    "z": -0.08439770340919495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4993449449539185,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2468.11328125,
                        "z": 364.84326171875
                    },
                    "rotation": {
                        "roll": 0.0002241583279101178,
                        "pitch": 0.6861675977706909,
                        "yaw": 90.04056549072266
                    }
                },
                "velocity": {
                    "x": -0.0017331112176179886,
                    "y": 1.499279499053955,
                    "z": 0.013893308117985725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9912736415863037,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2479.386962890625,
                        "z": 364.9432067871094
                    },
                    "rotation": {
                        "roll": -0.0038451829459518194,
                        "pitch": 0.6401457786560059,
                        "yaw": 89.83284759521484
                    }
                },
                "velocity": {
                    "x": -8.297781459987164e-05,
                    "y": 1.9912155866622925,
                    "z": 0.015197657980024815
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03768005222082138,
        "expert_target_speed": 5.486306193663134,
        "target_point": [
            18.430483481096882,
            -0.0821127691105255
        ],
        "target_point_next": [
            27.398289928038878,
            8.804636203833011
        ]
    },
    "180": {
        "acceleration": [
            -0.010890848934650421,
            1.8320369720458984,
            0.009296052157878876
        ],
        "angular_velocity": [
            -0.2210381180047989,
            0.029505781829357147,
            0.041032664477825165
        ],
        "forward_vector": [
            -0.004111959598958492,
            0.9999436140060425,
            0.009790024720132351
        ],
        "right_vector": [
            -0.9999915361404419,
            -0.004112092312425375,
            -6.559304893016815e-06
        ],
        "location": [
            2185.076904296875,
            2498.276123046875,
            365.0614318847656
        ],
        "rotation": [
            0.0003758384846150875,
            0.5609360933303833,
            90.23561096191406
        ],
        "velocity": [
            -0.02131727896630764,
            4.939788818359375,
            0.026331424713134766
        ],
        "speed": 4.939834814684681,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.74604034423828,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2144.7177734375,
                2527.357421875,
                364.76611328125
            ],
            "velocity": [
                7.735072612762451,
                0.016609013080596924,
                -0.029554538428783417
            ],
            "speed_kmh": 27.8465288609865,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.781005859375,
                        "y": 2572.155517578125,
                        "z": 365.0798034667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.5784711837768555,
                "transform": {
                    "location": {
                        "x": 2187.855224609375,
                        "y": 2556.68505859375,
                        "z": 365.1432800292969
                    },
                    "rotation": {
                        "roll": 0.004061673302203417,
                        "pitch": 0.17316578328609467,
                        "yaw": -89.47872924804688
                    }
                },
                "velocity": {
                    "x": 0.049692071974277496,
                    "y": -5.578227996826172,
                    "z": 0.015560483559966087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079545974731445,
                "transform": {
                    "location": {
                        "x": 2225.36474609375,
                        "y": 2524.272705078125,
                        "z": 366.2056884765625
                    },
                    "rotation": {
                        "roll": 0.0009105050703510642,
                        "pitch": -1.7454752922058105,
                        "yaw": -179.91775512695312
                    }
                },
                "velocity": {
                    "x": -8.07574462890625,
                    "y": -0.006657876074314117,
                    "z": -0.2477222979068756
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.735146999359131,
                "transform": {
                    "location": {
                        "x": 2144.7177734375,
                        "y": 2527.357421875,
                        "z": 364.76611328125
                    },
                    "rotation": {
                        "roll": 0.00019497689208947122,
                        "pitch": -0.19451694190502167,
                        "yaw": 0.2088984102010727
                    }
                },
                "velocity": {
                    "x": 7.735072612762451,
                    "y": 0.016609013080596924,
                    "z": -0.029554538428783417
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.021505380049347878,
                "transform": {
                    "location": {
                        "x": 2185.07275390625,
                        "y": 2454.609375,
                        "z": 364.7144775390625
                    },
                    "rotation": {
                        "roll": 0.001986744347959757,
                        "pitch": 0.36245763301849365,
                        "yaw": 90.34088134765625
                    }
                },
                "velocity": {
                    "x": -0.0009038663702085614,
                    "y": 0.0214858241379261,
                    "z": 0.00015407949103973806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029409228591248393,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 3.658868308775709e-06,
                    "y": 4.0435064875055104e-05,
                    "z": 0.0002912763156928122
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008777871844358742,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.245594472100493e-06,
                    "y": 1.0544329597905744e-05,
                    "z": 0.0008776851464062929
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042226791381836,
                "transform": {
                    "location": {
                        "x": 2188.00439453125,
                        "y": 2453.548583984375,
                        "z": 364.69830322265625
                    },
                    "rotation": {
                        "roll": -2.6682050346948927e-08,
                        "pitch": -0.6325096487998962,
                        "yaw": -89.92437744140625
                    }
                },
                "velocity": {
                    "x": 0.010541217401623726,
                    "y": -8.041729927062988,
                    "z": -0.088746577501297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.237713098526001,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2468.6015625,
                        "z": 364.8471374511719
                    },
                    "rotation": {
                        "roll": -0.0003357277892064303,
                        "pitch": 0.823468029499054,
                        "yaw": 90.057861328125
                    }
                },
                "velocity": {
                    "x": -0.0020873439498245716,
                    "y": 2.2376296520233154,
                    "z": 0.01921435259282589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.860042095184326,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2480.02880859375,
                        "z": 364.9480285644531
                    },
                    "rotation": {
                        "roll": -0.0033569233492016792,
                        "pitch": 0.6343879103660583,
                        "yaw": 89.84718322753906
                    }
                },
                "velocity": {
                    "x": -0.001009424333460629,
                    "y": 2.8599603176116943,
                    "z": 0.02161402627825737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.039369143545627594,
        "expert_target_speed": 5.953065439107503,
        "target_point": [
            17.25516677508976,
            -0.08515666084681764
        ],
        "target_point_next": [
            26.224418101929345,
            8.800134016104264
        ]
    },
    "185": {
        "acceleration": [
            -0.02326127141714096,
            -0.07371902465820312,
            0.021691694855690002
        ],
        "angular_velocity": [
            -0.5530412197113037,
            -0.026586735621094704,
            0.051655516028404236
        ],
        "forward_vector": [
            -0.00488449539989233,
            0.9999616146087646,
            0.0072765895165503025
        ],
        "right_vector": [
            -0.9999880790710449,
            -0.004884942434728146,
            4.367460496723652e-05
        ],
        "location": [
            2185.07080078125,
            2499.526611328125,
            365.06866455078125
        ],
        "rotation": [
            -0.002502436749637127,
            0.41692155599594116,
            90.27986907958984
        ],
        "velocity": [
            -0.02483760379254818,
            4.986997127532959,
            0.023217152804136276
        ],
        "speed": 4.987058978655069,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.36970520019531,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2146.7431640625,
                2527.361572265625,
                364.7584533691406
            ],
            "velocity": [
                8.296143531799316,
                0.009072795510292053,
                -0.03005603328347206
            ],
            "speed_kmh": 29.866330575170778,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2570.4833984375,
                        "z": 365.0862731933594
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.193195343017578,
                "transform": {
                    "location": {
                        "x": 2187.8681640625,
                        "y": 2554.958984375,
                        "z": 365.1480712890625
                    },
                    "rotation": {
                        "roll": 0.01302160695195198,
                        "pitch": 0.3560235798358917,
                        "yaw": -89.57632446289062
                    }
                },
                "velocity": {
                    "x": 0.043498389422893524,
                    "y": -7.193037033081055,
                    "z": 0.019580068066716194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8928422927856445,
                "transform": {
                    "location": {
                        "x": 2223.35107421875,
                        "y": 2524.272216796875,
                        "z": 366.1441345214844
                    },
                    "rotation": {
                        "roll": 0.00012329047603998333,
                        "pitch": -1.781921148300171,
                        "yaw": -179.99302673339844
                    }
                },
                "velocity": {
                    "x": -7.88913631439209,
                    "y": 0.0003075622080359608,
                    "z": -0.24184106290340424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.296202659606934,
                "transform": {
                    "location": {
                        "x": 2146.7431640625,
                        "y": 2527.361572265625,
                        "z": 364.7584533691406
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.2033005654811859,
                        "yaw": 0.09096182137727737
                    }
                },
                "velocity": {
                    "x": 8.296143531799316,
                    "y": 0.009072795510292053,
                    "z": -0.03005603328347206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2179222106933594,
                "transform": {
                    "location": {
                        "x": 2185.07177734375,
                        "y": 2454.747802734375,
                        "z": 364.7160339355469
                    },
                    "rotation": {
                        "roll": 0.003947734367102385,
                        "pitch": 0.6560669541358948,
                        "yaw": 90.2846450805664
                    }
                },
                "velocity": {
                    "x": -0.005123373586684465,
                    "y": 1.217836618423462,
                    "z": 0.013497629202902317
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004552061145659536,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.1540204241100582e-06,
                    "y": 2.1321902750059962e-05,
                    "z": 0.00045470500481314957
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004750207008328289,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.9125900507788174e-05,
                    "y": -3.176138488925062e-05,
                    "z": 0.0004735716211143881
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025191307067871,
                "transform": {
                    "location": {
                        "x": 2188.006591796875,
                        "y": 2451.540771484375,
                        "z": 364.6761169433594
                    },
                    "rotation": {
                        "roll": -0.00021367103909142315,
                        "pitch": -0.6605817079544067,
                        "yaw": -89.92440795898438
                    }
                },
                "velocity": {
                    "x": 0.01063890103250742,
                    "y": -8.024687767028809,
                    "z": -0.08927229791879654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4107249677181244,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2468.89794921875,
                        "z": 364.85247802734375
                    },
                    "rotation": {
                        "roll": 0.00017551073688082397,
                        "pitch": 0.09401755034923553,
                        "yaw": 90.0381851196289
                    }
                },
                "velocity": {
                    "x": 0.0012809118488803506,
                    "y": 0.41070592403411865,
                    "z": 0.003739919513463974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.793179988861084,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2480.703369140625,
                        "z": 364.9530334472656
                    },
                    "rotation": {
                        "roll": -0.001831058762036264,
                        "pitch": 0.4691315293312073,
                        "yaw": 89.84993743896484
                    }
                },
                "velocity": {
                    "x": -0.0018600682960823178,
                    "y": 2.793099880218506,
                    "z": 0.02109302394092083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04878547787666321,
        "expert_target_speed": 5.982100477202289,
        "target_point": [
            16.00459426334658,
            -0.09821875538586446
        ],
        "target_point_next": [
            24.98056264772746,
            8.780286261818455
        ]
    },
    "190": {
        "acceleration": [
            -7.163733243942261e-05,
            -0.6116294860839844,
            0.0027561187744140625
        ],
        "angular_velocity": [
            -0.3149212896823883,
            -0.018561484292149544,
            0.03982652723789215
        ],
        "forward_vector": [
            -0.005074928514659405,
            0.9999730587005615,
            0.005305861122906208
        ],
        "right_vector": [
            -0.9999871253967285,
            -0.005075231660157442,
            4.367483779788017e-05
        ],
        "location": [
            2185.065185546875,
            2500.756103515625,
            365.0751953125
        ],
        "rotation": [
            -0.0025024190545082092,
            0.30400487780570984,
            90.29077911376953
        ],
        "velocity": [
            -0.02568443864583969,
            4.852436542510986,
            0.025799360126256943
        ],
        "speed": 4.852504517203928,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.98297882080078,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2148.796630859375,
                2527.363525390625,
                364.7507629394531
            ],
            "velocity": [
                8.066396713256836,
                -0.00013857059821020812,
                -0.030029263347387314
            ],
            "speed_kmh": 29.039229396473935,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 3.3995262160857465e-10,
                    "y": -7.473323175577473e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.846826076507568,
                "transform": {
                    "location": {
                        "x": 2187.787109375,
                        "y": 2568.96044921875,
                        "z": 365.0925598144531
                    },
                    "rotation": {
                        "roll": -0.01321410946547985,
                        "pitch": -0.045345623046159744,
                        "yaw": -89.83758544921875
                    }
                },
                "velocity": {
                    "x": 0.03900839015841484,
                    "y": -4.8466339111328125,
                    "z": 0.018482178449630737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.168865203857422,
                "transform": {
                    "location": {
                        "x": 2187.877197265625,
                        "y": 2553.29345703125,
                        "z": 365.1520690917969
                    },
                    "rotation": {
                        "roll": 0.0064711794257164,
                        "pitch": 0.027177320793271065,
                        "yaw": -89.67060089111328
                    }
                },
                "velocity": {
                    "x": 0.03141678124666214,
                    "y": -6.168768882751465,
                    "z": 0.0141211599111557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.317934036254883,
                "transform": {
                    "location": {
                        "x": 2221.4580078125,
                        "y": 2524.272216796875,
                        "z": 366.0862121582031
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -1.8355722427368164,
                        "yaw": 179.98423767089844
                    }
                },
                "velocity": {
                    "x": -7.314519882202148,
                    "y": 0.0018585219513624907,
                    "z": -0.22350269556045532
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.066452980041504,
                "transform": {
                    "location": {
                        "x": 2148.796630859375,
                        "y": 2527.363525390625,
                        "z": 364.7507629394531
                    },
                    "rotation": {
                        "roll": 2.6158350010518916e-05,
                        "pitch": -0.2196042239665985,
                        "yaw": 0.030441738665103912
                    }
                },
                "velocity": {
                    "x": 8.066396713256836,
                    "y": -0.00013857059821020812,
                    "z": -0.030029263347387314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.497058868408203,
                "transform": {
                    "location": {
                        "x": 2185.06982421875,
                        "y": 2455.21044921875,
                        "z": 364.72113037109375
                    },
                    "rotation": {
                        "roll": 0.005693701561540365,
                        "pitch": 0.8357760310173035,
                        "yaw": 90.24916076660156
                    }
                },
                "velocity": {
                    "x": -0.00891489814966917,
                    "y": 2.4969089031219482,
                    "z": 0.025859011337161064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019564914691727608,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -2.706684199438314e-06,
                    "y": 2.439111631247215e-05,
                    "z": 0.00019410393724683672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038599014282227,
                "transform": {
                    "location": {
                        "x": 2188.00830078125,
                        "y": 2449.532958984375,
                        "z": 364.6534423828125
                    },
                    "rotation": {
                        "roll": -0.0005188084905967116,
                        "pitch": -0.6584233641624451,
                        "yaw": -89.92443084716797
                    }
                },
                "velocity": {
                    "x": 0.010585027746856213,
                    "y": -8.038073539733887,
                    "z": -0.09128282219171524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3893877267837524,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2469.15380859375,
                        "z": 364.85296630859375
                    },
                    "rotation": {
                        "roll": -0.0032653675880283117,
                        "pitch": 0.5741661787033081,
                        "yaw": 89.9986572265625
                    }
                },
                "velocity": {
                    "x": -0.0020529241301119328,
                    "y": 1.389333963394165,
                    "z": 0.012052077800035477
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.5500094890594482,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2481.52880859375,
                        "z": 364.9593200683594
                    },
                    "rotation": {
                        "roll": -0.0023803773801773787,
                        "pitch": 0.5509913563728333,
                        "yaw": 89.92802429199219
                    }
                },
                "velocity": {
                    "x": -0.0023393179289996624,
                    "y": 3.549917221069336,
                    "z": 0.025463981553912163
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05049707368016243,
        "expert_target_speed": 5.841535148224051,
        "target_point": [
            14.775070234578811,
            -0.10068466809714083
        ],
        "target_point_next": [
            23.752744594462918,
            8.776095314858777
        ]
    },
    "195": {
        "acceleration": [
            0.00027529895305633545,
            -0.5026531219482422,
            -0.003943443298339844
        ],
        "angular_velocity": [
            -0.09137900173664093,
            -0.011316370218992233,
            0.03792316094040871
        ],
        "forward_vector": [
            -0.005244339816272259,
            0.9999759197235107,
            0.004535659682005644
        ],
        "right_vector": [
            -0.9999862313270569,
            -0.0052443877793848515,
            -1.3592651839644532e-06
        ],
        "location": [
            2185.059326171875,
            2501.95068359375,
            365.0815124511719
        ],
        "rotation": [
            7.788096263539046e-05,
            0.25987502932548523,
            90.30048370361328
        ],
        "velocity": [
            -0.02574891224503517,
            4.716153621673584,
            0.02472902275621891
        ],
        "speed": 4.716223912168151,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.684814453125,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2150.76513671875,
                2527.363037109375,
                364.7435607910156
            ],
            "velocity": [
                7.702558994293213,
                -0.006316022016108036,
                -0.02331894263625145
            ],
            "speed_kmh": 27.72934877501093,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1859649419784546,
                "transform": {
                    "location": {
                        "x": 2236.9375,
                        "y": 2524.330322265625,
                        "z": 366.5594482421875
                    },
                    "rotation": {
                        "roll": -0.00018310561426915228,
                        "pitch": -1.762844443321228,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": 0.03431056812405586,
                    "y": -0.00011835520854219794,
                    "z": -1.1854685544967651
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.822010517120361,
                "transform": {
                    "location": {
                        "x": 2187.7998046875,
                        "y": 2567.75,
                        "z": 365.098388671875
                    },
                    "rotation": {
                        "roll": -0.00842285342514515,
                        "pitch": 0.19670943915843964,
                        "yaw": -89.53919982910156
                    }
                },
                "velocity": {
                    "x": 0.0554104745388031,
                    "y": -4.8216376304626465,
                    "z": 0.022939318791031837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.029281139373779,
                "transform": {
                    "location": {
                        "x": 2187.8837890625,
                        "y": 2551.948486328125,
                        "z": 365.15472412109375
                    },
                    "rotation": {
                        "roll": 0.003502553328871727,
                        "pitch": -0.08264528214931488,
                        "yaw": -89.71109771728516
                    }
                },
                "velocity": {
                    "x": 0.023544738069176674,
                    "y": -5.029212474822998,
                    "z": 0.01155633945018053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.087222576141357,
                "transform": {
                    "location": {
                        "x": 2219.662353515625,
                        "y": 2524.27392578125,
                        "z": 366.0328063964844
                    },
                    "rotation": {
                        "roll": 0.00013071346620563418,
                        "pitch": -1.7418757677078247,
                        "yaw": 179.9423370361328
                    }
                },
                "velocity": {
                    "x": -7.084120750427246,
                    "y": 0.008554372936487198,
                    "z": -0.20948295295238495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.702596664428711,
                "transform": {
                    "location": {
                        "x": 2150.76513671875,
                        "y": 2527.363037109375,
                        "z": 364.7435607910156
                    },
                    "rotation": {
                        "roll": 0.0003467246424406767,
                        "pitch": -0.22113418579101562,
                        "yaw": -0.03118896298110485
                    }
                },
                "velocity": {
                    "x": 7.702558994293213,
                    "y": -0.006316022016108036,
                    "z": -0.02331894263625145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.044189453125,
                "transform": {
                    "location": {
                        "x": 2185.06640625,
                        "y": 2456.038330078125,
                        "z": 364.7298889160156
                    },
                    "rotation": {
                        "roll": 0.003032456152141094,
                        "pitch": 0.9141114950180054,
                        "yaw": 90.23306274414062
                    }
                },
                "velocity": {
                    "x": -0.01550024002790451,
                    "y": 4.043942928314209,
                    "z": 0.04186416417360306
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003384790616109967,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.5583746062475257e-05,
                    "y": -7.605005691857514e-08,
                    "z": 0.0003381201240699738
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005116051761433482,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.4745815860806033e-05,
                    "y": 2.1831504000147106e-06,
                    "z": 0.0005113879451528192
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.723082542419434,
                "transform": {
                    "location": {
                        "x": 2188.01025390625,
                        "y": 2447.553466796875,
                        "z": 364.6310119628906
                    },
                    "rotation": {
                        "roll": -0.0002441729884594679,
                        "pitch": -0.7413555383682251,
                        "yaw": -89.92456817626953
                    }
                },
                "velocity": {
                    "x": 0.01009240373969078,
                    "y": -7.722546100616455,
                    "z": -0.09044913947582245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2387349605560303,
                "transform": {
                    "location": {
                        "x": 2185.043212890625,
                        "y": 2469.62109375,
                        "z": 364.8562927246094
                    },
                    "rotation": {
                        "roll": -0.0008544946322217584,
                        "pitch": 0.7876232266426086,
                        "yaw": 90.02055358886719
                    }
                },
                "velocity": {
                    "x": -0.0032056933268904686,
                    "y": 2.2386510372161865,
                    "z": 0.019118431955575943
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.001263380050659,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2482.34326171875,
                        "z": 364.9653015136719
                    },
                    "rotation": {
                        "roll": -0.0015258969506248832,
                        "pitch": 0.35965725779533386,
                        "yaw": 89.99114990234375
                    }
                },
                "velocity": {
                    "x": -0.003467109054327011,
                    "y": 3.0011839866638184,
                    "z": 0.021548451855778694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05443018674850464,
        "expert_target_speed": 5.6938876830126315,
        "target_point": [
            13.58045700052124,
            -0.10300526977538035
        ],
        "target_point_next": [
            22.559771408824695,
            8.772115717273834
        ]
    },
    "200": {
        "acceleration": [
            -0.0003670156002044678,
            -0.451812744140625,
            0.005175955593585968
        ],
        "angular_velocity": [
            -0.006067380309104919,
            -0.0015922816237434745,
            0.05908872187137604
        ],
        "forward_vector": [
            -0.005413139704614878,
            0.9999757409095764,
            0.004379734862595797
        ],
        "right_vector": [
            -0.9999853372573853,
            -0.005413212813436985,
            4.793516836798517e-06
        ],
        "location": [
            2185.053466796875,
            2503.114013671875,
            365.0875244140625
        ],
        "rotation": [
            -0.0002746509271673858,
            0.25094112753868103,
            90.3101577758789
        ],
        "velocity": [
            -0.025883479043841362,
            4.598608016967773,
            0.02485939860343933
        ],
        "speed": 4.598680859573503,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.483516693115234,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2152.636474609375,
                2527.361328125,
                364.739013671875
            ],
            "velocity": [
                7.286797523498535,
                -0.007851548492908478,
                -0.013705139048397541
            ],
            "speed_kmh": 26.232532711014453,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1497649848461151,
                "transform": {
                    "location": {
                        "x": 2236.9384765625,
                        "y": 2524.330322265625,
                        "z": 366.5357666015625
                    },
                    "rotation": {
                        "roll": 0.0001699534768704325,
                        "pitch": -1.7745308876037598,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -0.004472754430025816,
                    "y": 0.00010888397810049355,
                    "z": 0.1496981382369995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.608890056610107,
                "transform": {
                    "location": {
                        "x": 2187.81494140625,
                        "y": 2566.5498046875,
                        "z": 365.1039733886719
                    },
                    "rotation": {
                        "roll": -0.0036926150787621737,
                        "pitch": 0.23424132168293,
                        "yaw": -89.37169647216797
                    }
                },
                "velocity": {
                    "x": 0.05943203344941139,
                    "y": -4.608458042144775,
                    "z": 0.02121623046696186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.304157257080078,
                "transform": {
                    "location": {
                        "x": 2187.889404296875,
                        "y": 2550.6474609375,
                        "z": 365.1572570800781
                    },
                    "rotation": {
                        "roll": 0.005176762584596872,
                        "pitch": 0.08728981018066406,
                        "yaw": -89.7080307006836
                    }
                },
                "velocity": {
                    "x": 0.019256845116615295,
                    "y": -5.30411434173584,
                    "z": 0.009319886565208435
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.755069732666016,
                "transform": {
                    "location": {
                        "x": 2217.93017578125,
                        "y": 2524.27587890625,
                        "z": 365.9820251464844
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": -1.6933882236480713,
                        "yaw": 179.92494201660156
                    }
                },
                "velocity": {
                    "x": -6.752307415008545,
                    "y": 0.00954727828502655,
                    "z": -0.19293399155139923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.2868146896362305,
                "transform": {
                    "location": {
                        "x": 2152.636474609375,
                        "y": 2527.361328125,
                        "z": 364.739013671875
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -0.10366860777139664,
                        "yaw": -0.05679319426417351
                    }
                },
                "velocity": {
                    "x": 7.286797523498535,
                    "y": -0.007851548492908478,
                    "z": -0.013705139048397541
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.351343631744385,
                "transform": {
                    "location": {
                        "x": 2185.062744140625,
                        "y": 2457.23095703125,
                        "z": 364.7427673339844
                    },
                    "rotation": {
                        "roll": 0.005331837106496096,
                        "pitch": 0.9024523496627808,
                        "yaw": 90.19120025634766
                    }
                },
                "velocity": {
                    "x": -0.01402162853628397,
                    "y": 5.35101318359375,
                    "z": 0.05780920758843422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005654145497828722,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.055441771313781e-05,
                    "y": -1.9773875465034507e-05,
                    "z": 0.000564970076084137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.327953451545909e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.305070539587177e-06,
                    "y": 8.745292689127382e-06,
                    "z": -6.224511889740825e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.2501220703125,
                "transform": {
                    "location": {
                        "x": 2188.01220703125,
                        "y": 2445.689453125,
                        "z": 364.6097717285156
                    },
                    "rotation": {
                        "roll": 0.0005802829400636256,
                        "pitch": -0.8492724895477295,
                        "yaw": -89.92473602294922
                    }
                },
                "velocity": {
                    "x": 0.009616361930966377,
                    "y": -7.249627113342285,
                    "z": -0.08416528254747391
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.016046559438109398,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2470.019287109375,
                        "z": 364.8623046875
                    },
                    "rotation": {
                        "roll": -0.0004577703366521746,
                        "pitch": 0.11705577373504639,
                        "yaw": 89.8855209350586
                    }
                },
                "velocity": {
                    "x": -0.0015454033855348825,
                    "y": 0.015969382598996162,
                    "z": -0.00028748216573148966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8018136024475098,
                "transform": {
                    "location": {
                        "x": 2185.032470703125,
                        "y": 2483.16455078125,
                        "z": 364.9711608886719
                    },
                    "rotation": {
                        "roll": -0.001922589959576726,
                        "pitch": 0.5177419781684875,
                        "yaw": 90.02896118164062
                    }
                },
                "velocity": {
                    "x": -0.005353663582354784,
                    "y": 3.801715612411499,
                    "z": 0.026758594438433647
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06145172566175461,
        "expert_target_speed": 5.555401173257322,
        "target_point": [
            12.417094769549056,
            -0.10484397732178877
        ],
        "target_point_next": [
            21.397898710950113,
            8.768769736607991
        ]
    },
    "205": {
        "acceleration": [
            -0.004559606313705444,
            -0.3675365447998047,
            0.0005069747567176819
        ],
        "angular_velocity": [
            0.042702674865722656,
            0.0032829036936163902,
            -0.13190896809101105
        ],
        "forward_vector": [
            -0.005558690056204796,
            0.9999748468399048,
            0.0044081066735088825
        ],
        "right_vector": [
            -0.9999845623970032,
            -0.005558700766414404,
            -9.849201887845993e-06
        ],
        "location": [
            2185.0478515625,
            2504.25,
            365.0933837890625
        ],
        "rotation": [
            0.0005643231561407447,
            0.25256672501564026,
            90.31849670410156
        ],
        "velocity": [
            -0.026174776256084442,
            4.496968746185303,
            0.024661293253302574
        ],
        "speed": 4.497044921176513,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.36540222167969,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2154.425048828125,
                2527.35888671875,
                364.7361755371094
            ],
            "velocity": [
                6.895787239074707,
                -0.0101577527821064,
                -0.0052240085788071156
            ],
            "speed_kmh": 24.824868117144845,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13236047327518463,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7451171875
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.21685849130153656,
                        "yaw": -0.1259460598230362
                    }
                },
                "velocity": {
                    "x": 0.0005176276317797601,
                    "y": -0.00012575392611324787,
                    "z": 0.13235940039157867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.624741792678833,
                "transform": {
                    "location": {
                        "x": 2236.73876953125,
                        "y": 2524.327880859375,
                        "z": 366.55206298828125
                    },
                    "rotation": {
                        "roll": -0.0163574181497097,
                        "pitch": -1.519614577293396,
                        "yaw": -179.98451232910156
                    }
                },
                "velocity": {
                    "x": -1.6245934963226318,
                    "y": -0.020135197788476944,
                    "z": -0.008758754469454288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.07501220703125,
                "transform": {
                    "location": {
                        "x": 2187.827392578125,
                        "y": 2565.385009765625,
                        "z": 365.1095886230469
                    },
                    "rotation": {
                        "roll": 0.009450319223105907,
                        "pitch": 0.29561740159988403,
                        "yaw": -89.40192413330078
                    }
                },
                "velocity": {
                    "x": 0.04504518583416939,
                    "y": -5.074728012084961,
                    "z": 0.02920267917215824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.864803314208984,
                "transform": {
                    "location": {
                        "x": 2187.893310546875,
                        "y": 2549.257080078125,
                        "z": 365.15966796875
                    },
                    "rotation": {
                        "roll": 0.003805783810093999,
                        "pitch": 0.0253741517663002,
                        "yaw": -89.95162963867188
                    }
                },
                "velocity": {
                    "x": 0.014989150688052177,
                    "y": -4.864773750305176,
                    "z": 0.007903165183961391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.423135757446289,
                "transform": {
                    "location": {
                        "x": 2216.287353515625,
                        "y": 2524.278076171875,
                        "z": 365.9352111816406
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -1.7026021480560303,
                        "yaw": 179.91619873046875
                    }
                },
                "velocity": {
                    "x": -6.420501708984375,
                    "y": 0.009997622109949589,
                    "z": -0.18366999924182892
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.895796298980713,
                "transform": {
                    "location": {
                        "x": 2154.425048828125,
                        "y": 2527.35888671875,
                        "z": 364.7361755371094
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.04400690644979477,
                        "yaw": -0.0739135667681694
                    }
                },
                "velocity": {
                    "x": 6.895787239074707,
                    "y": -0.0101577527821064,
                    "z": -0.0052240085788071156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.564465343952179,
                "transform": {
                    "location": {
                        "x": 2185.059326171875,
                        "y": 2458.0986328125,
                        "z": 364.75115966796875
                    },
                    "rotation": {
                        "roll": 0.009689120575785637,
                        "pitch": -0.06961328536272049,
                        "yaw": 89.89014434814453
                    }
                },
                "velocity": {
                    "x": -0.005815747659653425,
                    "y": 0.5644124746322632,
                    "z": 0.0050848484970629215
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006467719213105738,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.727636845316738e-05,
                    "y": -2.6614500256982865e-06,
                    "z": 0.000646535656414926
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006951786344870925,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.6406289432779886e-05,
                    "y": 1.8052942323265597e-05,
                    "z": 0.000694750458933413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.9871416091918945,
                "transform": {
                    "location": {
                        "x": 2188.014404296875,
                        "y": 2443.91357421875,
                        "z": 364.5888671875
                    },
                    "rotation": {
                        "roll": 0.00013880588812753558,
                        "pitch": -0.8230855464935303,
                        "yaw": -89.92501831054688
                    }
                },
                "velocity": {
                    "x": 0.009225201793015003,
                    "y": -6.986635208129883,
                    "z": -0.08360453695058823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8321036100387573,
                "transform": {
                    "location": {
                        "x": 2185.04248046875,
                        "y": 2470.122802734375,
                        "z": 364.8621826171875
                    },
                    "rotation": {
                        "roll": 0.0012762864353135228,
                        "pitch": 0.3819578289985657,
                        "yaw": 89.9181900024414
                    }
                },
                "velocity": {
                    "x": -0.0030218500178307295,
                    "y": 0.8320652842521667,
                    "z": 0.007395152933895588
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6401278972625732,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2484.118408203125,
                        "z": 364.97796630859375
                    },
                    "rotation": {
                        "roll": -0.0006409083143807948,
                        "pitch": 0.427071213722229,
                        "yaw": 90.06149291992188
                    }
                },
                "velocity": {
                    "x": -0.0061701079830527306,
                    "y": 3.640028238296509,
                    "z": 0.026220759376883507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06381256133317947,
        "expert_target_speed": 5.419627364150865,
        "target_point": [
            11.28108099099025,
            -0.1057784174149139
        ],
        "target_point_next": [
            20.263042108017114,
            8.766663989845048
        ]
    },
    "210": {
        "acceleration": [
            -0.0010837987065315247,
            -0.311431884765625,
            -0.022035613656044006
        ],
        "angular_velocity": [
            -0.10632479190826416,
            -0.012606031261384487,
            0.2422085553407669
        ],
        "forward_vector": [
            -0.0057526384480297565,
            0.9999736547470093,
            0.004422053694725037
        ],
        "right_vector": [
            -0.9999834299087524,
            -0.005752734839916229,
            9.054550901055336e-06
        ],
        "location": [
            2185.041748046875,
            2505.36376953125,
            365.0990295410156
        ],
        "rotation": [
            -0.0005187925999052823,
            0.2533658444881439,
            90.32960510253906
        ],
        "velocity": [
            -0.02618660405278206,
            4.417316913604736,
            0.01939302310347557
        ],
        "speed": 4.417394532238466,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.40620803833008,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2156.03173828125,
                2527.35693359375,
                364.73590087890625
            ],
            "velocity": [
                6.196253299713135,
                -0.009291068650782108,
                0.013470258563756943
            ],
            "speed_kmh": 22.306589666045493,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.96990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13119201362133026,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7962951660156
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.21765080094337463,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0004937215126119554,
                    "y": -4.007431925856508e-05,
                    "z": 0.13119107484817505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0954177379608154,
                "transform": {
                    "location": {
                        "x": 2236.14990234375,
                        "y": 2524.32421875,
                        "z": 366.53863525390625
                    },
                    "rotation": {
                        "roll": -0.009552001953125,
                        "pitch": -1.4674046039581299,
                        "yaw": -179.8820343017578
                    }
                },
                "velocity": {
                    "x": -3.0941128730773926,
                    "y": -0.0176364965736866,
                    "z": -0.08812354505062103
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.543056964874268,
                "transform": {
                    "location": {
                        "x": 2187.839111328125,
                        "y": 2564.05029296875,
                        "z": 365.1156921386719
                    },
                    "rotation": {
                        "roll": 0.005440440960228443,
                        "pitch": 0.30181920528411865,
                        "yaw": -89.48644256591797
                    }
                },
                "velocity": {
                    "x": 0.04567088931798935,
                    "y": -5.542825222015381,
                    "z": 0.021977709606289864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.67445707321167,
                "transform": {
                    "location": {
                        "x": 2187.896240234375,
                        "y": 2548.227294921875,
                        "z": 365.160888671875
                    },
                    "rotation": {
                        "roll": 0.006403375882655382,
                        "pitch": 0.04839188605546951,
                        "yaw": -90.06328582763672
                    }
                },
                "velocity": {
                    "x": 0.005722450092434883,
                    "y": -4.674449443817139,
                    "z": 0.0062364861369132996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.1433610916137695,
                "transform": {
                    "location": {
                        "x": 2214.718994140625,
                        "y": 2524.281005859375,
                        "z": 365.8904724121094
                    },
                    "rotation": {
                        "roll": -0.0005798337515443563,
                        "pitch": -1.6946996450424194,
                        "yaw": 179.9052276611328
                    }
                },
                "velocity": {
                    "x": -6.1408257484436035,
                    "y": 0.010048260912299156,
                    "z": -0.1761993020772934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.196275234222412,
                "transform": {
                    "location": {
                        "x": 2156.03173828125,
                        "y": 2527.35693359375,
                        "z": 364.73590087890625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.024260830134153366,
                        "yaw": -0.0852966234087944
                    }
                },
                "velocity": {
                    "x": 6.196253299713135,
                    "y": -0.009291068650782108,
                    "z": 0.013470258563756943
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0894103050231934,
                "transform": {
                    "location": {
                        "x": 2185.059326171875,
                        "y": 2458.3759765625,
                        "z": 364.7541809082031
                    },
                    "rotation": {
                        "roll": 0.002748046535998583,
                        "pitch": 0.5972590446472168,
                        "yaw": 89.90498352050781
                    }
                },
                "velocity": {
                    "x": -0.001630281563848257,
                    "y": 2.0892996788024902,
                    "z": 0.021423377096652985
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00032160559203475714,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.3174898413126357e-05,
                    "y": -7.487303719244665e-07,
                    "z": 0.0003213347517885268
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030586132197640836,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.266475737793371e-05,
                    "y": 7.544709205831168e-06,
                    "z": 0.0003055058477912098
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.690435409545898,
                "transform": {
                    "location": {
                        "x": 2188.01611328125,
                        "y": 2442.202392578125,
                        "z": 364.5686340332031
                    },
                    "rotation": {
                        "roll": -0.00036622726474888623,
                        "pitch": -0.8300796747207642,
                        "yaw": -89.92210388183594
                    }
                },
                "velocity": {
                    "x": 0.009081228636205196,
                    "y": -6.6899542808532715,
                    "z": -0.07968621701002121
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6445605754852295,
                "transform": {
                    "location": {
                        "x": 2185.04248046875,
                        "y": 2470.4423828125,
                        "z": 364.8638610839844
                    },
                    "rotation": {
                        "roll": -0.0009460012661293149,
                        "pitch": 0.7140142917633057,
                        "yaw": 89.96294403076172
                    }
                },
                "velocity": {
                    "x": -0.0020130020566284657,
                    "y": 1.6445008516311646,
                    "z": 0.013868512585759163
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.433035373687744,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2484.97021484375,
                        "z": 364.98394775390625
                    },
                    "rotation": {
                        "roll": -0.0007324464386329055,
                        "pitch": 0.37169888615608215,
                        "yaw": 90.07365417480469
                    }
                },
                "velocity": {
                    "x": -0.0058826119638979435,
                    "y": 3.432957172393799,
                    "z": 0.022423677146434784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07045328617095947,
        "expert_target_speed": 5.2847302295426655,
        "target_point": [
            10.16727220836896,
            -0.10785027094803908
        ],
        "target_point_next": [
            19.151105214712178,
            8.762696741049899
        ]
    },
    "215": {
        "acceleration": [
            0.0015766546130180359,
            -0.39124488830566406,
            0.013306811451911926
        ],
        "angular_velocity": [
            -0.21849386394023895,
            0.028587371110916138,
            -0.2131543904542923
        ],
        "forward_vector": [
            -0.0058679296635091305,
            0.9999761581420898,
            0.00364100094884634
        ],
        "right_vector": [
            -0.9999827742576599,
            -0.005867970176041126,
            5.327165126800537e-07
        ],
        "location": [
            2185.0361328125,
            2506.45654296875,
            365.10345458984375
        ],
        "rotation": [
            -3.052260944969021e-05,
            0.20861445367336273,
            90.33621215820312
        ],
        "velocity": [
            -0.02637750841677189,
            4.328625202178955,
            0.0179123692214489
        ],
        "speed": 4.328705570247193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.47270202636719,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2157.6220703125,
                2527.35400390625,
                364.73931884765625
            ],
            "velocity": [
                6.475394248962402,
                -0.012479416094720364,
                0.020859889686107635
            ],
            "speed_kmh": 23.311583543211647,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8679012656211853,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.60540771484375
                    },
                    "rotation": {
                        "roll": 0.0006474991678260267,
                        "pitch": 0.6778416037559509,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 9.62013000389561e-05,
                    "y": 0.010107246227562428,
                    "z": -0.8678423762321472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8074110746383667,
                "transform": {
                    "location": {
                        "x": 2136.10546875,
                        "y": 2527.303466796875,
                        "z": 364.8096923828125
                    },
                    "rotation": {
                        "roll": 0.006589163560420275,
                        "pitch": -0.3677031993865967,
                        "yaw": -0.0524902269244194
                    }
                },
                "velocity": {
                    "x": 1.8072658777236938,
                    "y": 0.02288661152124405,
                    "z": 0.001058874069713056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.646956443786621,
                "transform": {
                    "location": {
                        "x": 2235.1689453125,
                        "y": 2524.318115234375,
                        "z": 366.50927734375
                    },
                    "rotation": {
                        "roll": -0.01593017578125,
                        "pitch": -1.445302128791809,
                        "yaw": -179.75889587402344
                    }
                },
                "velocity": {
                    "x": -4.644731521606445,
                    "y": -0.029796332120895386,
                    "z": -0.14067260921001434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.173697471618652,
                "transform": {
                    "location": {
                        "x": 2187.8515625,
                        "y": 2562.526123046875,
                        "z": 365.1220703125
                    },
                    "rotation": {
                        "roll": 0.00393960764631629,
                        "pitch": 0.4767949879169464,
                        "yaw": -89.49498748779297
                    }
                },
                "velocity": {
                    "x": 0.05773306265473366,
                    "y": -7.173410892486572,
                    "z": 0.027862854301929474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.5432567596435547,
                "transform": {
                    "location": {
                        "x": 2187.898193359375,
                        "y": 2547.069091796875,
                        "z": 365.1622619628906
                    },
                    "rotation": {
                        "roll": -0.00021362419647630304,
                        "pitch": -0.14669878780841827,
                        "yaw": -89.8187484741211
                    }
                },
                "velocity": {
                    "x": 0.006031804718077183,
                    "y": -3.5432510375976562,
                    "z": 0.0019173622131347656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.87119722366333,
                "transform": {
                    "location": {
                        "x": 2213.218017578125,
                        "y": 2524.283935546875,
                        "z": 365.84771728515625
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": -1.6820638179779053,
                        "yaw": 179.90371704101562
                    }
                },
                "velocity": {
                    "x": -5.868920803070068,
                    "y": 0.009963574819266796,
                    "z": -0.16316816210746765
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.475439548492432,
                "transform": {
                    "location": {
                        "x": 2157.6220703125,
                        "y": 2527.35400390625,
                        "z": 364.73931884765625
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.1996874064207077,
                        "yaw": -0.0970153734087944
                    }
                },
                "velocity": {
                    "x": 6.475394248962402,
                    "y": -0.012479416094720364,
                    "z": 0.020859889686107635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.41204342246055603,
                "transform": {
                    "location": {
                        "x": 2185.058837890625,
                        "y": 2458.865966796875,
                        "z": 364.75921630859375
                    },
                    "rotation": {
                        "roll": -0.0014343183720484376,
                        "pitch": 0.3837609887123108,
                        "yaw": 89.80146789550781
                    }
                },
                "velocity": {
                    "x": -0.006105809472501278,
                    "y": 0.4119822680950165,
                    "z": 0.00362363806925714
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006647395202890038,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 2.263058013340924e-05,
                    "y": -4.911097130388953e-05,
                    "z": 0.0006625364767387509
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012055967235937715,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.4412328710022848e-05,
                    "y": -2.9379603802226484e-05,
                    "z": 0.0012051524827256799
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.3208909034729,
                "transform": {
                    "location": {
                        "x": 2188.01806640625,
                        "y": 2440.580078125,
                        "z": 364.54937744140625
                    },
                    "rotation": {
                        "roll": 5.913028508075513e-05,
                        "pitch": -0.8472234606742859,
                        "yaw": -89.91900634765625
                    }
                },
                "velocity": {
                    "x": 0.009042941965162754,
                    "y": -6.320432662963867,
                    "z": -0.0755801647901535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6581249237060547,
                "transform": {
                    "location": {
                        "x": 2185.04248046875,
                        "y": 2470.97412109375,
                        "z": 364.867919921875
                    },
                    "rotation": {
                        "roll": -0.0020141450222581625,
                        "pitch": 0.8595656156539917,
                        "yaw": 89.99588775634766
                    }
                },
                "velocity": {
                    "x": -0.003970829304307699,
                    "y": 2.6580212116241455,
                    "z": 0.023150358349084854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.1114115715026855,
                "transform": {
                    "location": {
                        "x": 2185.026611328125,
                        "y": 2485.951171875,
                        "z": 364.99053955078125
                    },
                    "rotation": {
                        "roll": 0.0010676574893295765,
                        "pitch": 0.4979754090309143,
                        "yaw": 90.08438110351562
                    }
                },
                "velocity": {
                    "x": -0.00608938280493021,
                    "y": 4.1113080978393555,
                    "z": 0.028530921787023544
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07543980330228806,
        "expert_target_speed": 5.110205130185115,
        "target_point": [
            9.074471299281818,
            -0.10829079170340525
        ],
        "target_point_next": [
            18.059395527696232,
            8.761150926216562
        ]
    },
    "220": {
        "acceleration": [
            0.004816949367523193,
            -1.0213470458984375,
            0.0021793320775032043
        ],
        "angular_velocity": [
            -0.36123228073120117,
            -0.04445585608482361,
            0.36895138025283813
        ],
        "forward_vector": [
            -0.006070839241147041,
            0.9999783635139465,
            0.0025370093062520027
        ],
        "right_vector": [
            -0.9999815821647644,
            -0.0060708303935825825,
            -1.1256196557951625e-05
        ],
        "location": [
            2185.0302734375,
            2507.52001953125,
            365.1078796386719
        ],
        "rotation": [
            0.0006449346547015011,
            0.1453600823879242,
            90.34783935546875
        ],
        "velocity": [
            -0.026089653372764587,
            4.158714294433594,
            0.017156237736344337
        ],
        "speed": 4.158796130220789,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.583251953125,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2159.179443359375,
                2527.35107421875,
                364.7444152832031
            ],
            "velocity": [
                5.948514938354492,
                -0.011358159594237804,
                0.03146094083786011
            ],
            "speed_kmh": 21.414992319974566,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.43695068359375
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.12992148101329803,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.1923828125,
                        "z": 364.5947570800781
                    },
                    "rotation": {
                        "roll": 8.882539987098426e-05,
                        "pitch": 0.6803824305534363,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": -0.0002447246224619448,
                    "y": -0.0015372841153293848,
                    "z": 0.12991215288639069
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1441855430603027,
                "transform": {
                    "location": {
                        "x": 2136.753173828125,
                        "y": 2527.310302734375,
                        "z": 364.8069152832031
                    },
                    "rotation": {
                        "roll": 0.004361080005764961,
                        "pitch": -0.37520959973335266,
                        "yaw": 0.15138356387615204
                    }
                },
                "velocity": {
                    "x": 3.14387845993042,
                    "y": 0.04168357327580452,
                    "z": -0.013885716907680035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.444767475128174,
                "transform": {
                    "location": {
                        "x": 2233.86083984375,
                        "y": 2524.30908203125,
                        "z": 366.46966552734375
                    },
                    "rotation": {
                        "roll": -0.0169067345559597,
                        "pitch": -1.5673507452011108,
                        "yaw": -179.65953063964844
                    }
                },
                "velocity": {
                    "x": -5.442091464996338,
                    "y": -0.03837388753890991,
                    "z": -0.16632115840911865
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5538129806518555,
                "transform": {
                    "location": {
                        "x": 2187.866455078125,
                        "y": 2560.634765625,
                        "z": 365.1289367675781
                    },
                    "rotation": {
                        "roll": 0.007520098704844713,
                        "pitch": 0.3153020143508911,
                        "yaw": -89.56914520263672
                    }
                },
                "velocity": {
                    "x": 0.04960251599550247,
                    "y": -7.55359411239624,
                    "z": 0.0291274543851614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.680918216705322,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2546.0390625,
                        "z": 365.1632385253906
                    },
                    "rotation": {
                        "roll": -0.002258303575217724,
                        "pitch": 0.12870807945728302,
                        "yaw": -89.82158660888672
                    }
                },
                "velocity": {
                    "x": 0.014680917374789715,
                    "y": -4.6808929443359375,
                    "z": 0.004404554143548012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.568643093109131,
                "transform": {
                    "location": {
                        "x": 2211.79052734375,
                        "y": 2524.28662109375,
                        "z": 365.8083190917969
                    },
                    "rotation": {
                        "roll": 0.00046460708836093545,
                        "pitch": -1.6187684535980225,
                        "yaw": 179.8921661376953
                    }
                },
                "velocity": {
                    "x": -5.566507339477539,
                    "y": 0.011453919112682343,
                    "z": -0.15379606187343597
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.948608875274658,
                "transform": {
                    "location": {
                        "x": 2159.179443359375,
                        "y": 2527.35107421875,
                        "z": 364.7444152832031
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.3072833716869354,
                        "yaw": -0.1078796312212944
                    }
                },
                "velocity": {
                    "x": 5.948514938354492,
                    "y": -0.011358159594237804,
                    "z": 0.03146094083786011
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.293195366859436,
                "transform": {
                    "location": {
                        "x": 2185.058837890625,
                        "y": 2459.016357421875,
                        "z": 364.7607727050781
                    },
                    "rotation": {
                        "roll": -0.001953091355971992,
                        "pitch": 0.6105983853340149,
                        "yaw": 89.81564331054688
                    }
                },
                "velocity": {
                    "x": -0.00029951869510114193,
                    "y": 1.29312264919281,
                    "z": 0.013710899278521538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007640899857506156,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.916848123073578e-05,
                    "y": 2.3034721380099654e-05,
                    "z": 0.0007635020883753896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005329021951183677,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.3427585145109333e-05,
                    "y": 1.2585839613166172e-05,
                    "z": 0.0005325843230821192
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.091614246368408,
                "transform": {
                    "location": {
                        "x": 2188.02001953125,
                        "y": 2439.030517578125,
                        "z": 364.5306701660156
                    },
                    "rotation": {
                        "roll": -9.15766941034235e-05,
                        "pitch": -0.8242193460464478,
                        "yaw": -89.9224853515625
                    }
                },
                "velocity": {
                    "x": 0.008153452537953854,
                    "y": -6.091164588928223,
                    "z": -0.07358057051897049
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.060658931732178,
                "transform": {
                    "location": {
                        "x": 2185.040771484375,
                        "y": 2471.8212890625,
                        "z": 364.8746337890625
                    },
                    "rotation": {
                        "roll": -0.001373356906697154,
                        "pitch": 1.0306072235107422,
                        "yaw": 90.02889251708984
                    }
                },
                "velocity": {
                    "x": -0.004399716388434172,
                    "y": 4.060508728027344,
                    "z": 0.034650202840566635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.666663646697998,
                "transform": {
                    "location": {
                        "x": 2185.024658203125,
                        "y": 2486.92431640625,
                        "z": 364.9971923828125
                    },
                    "rotation": {
                        "roll": -6.101921826484613e-05,
                        "pitch": 0.3418031334877014,
                        "yaw": 90.08431243896484
                    }
                },
                "velocity": {
                    "x": -0.005474755074828863,
                    "y": 3.6665759086608887,
                    "z": 0.024758491665124893
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08310715854167938,
        "expert_target_speed": 4.812089657082482,
        "target_point": [
            8.010959168579278,
            -0.10933509773450872
        ],
        "target_point_next": [
            16.99747557587774,
            8.758493421090323
        ]
    },
    "225": {
        "acceleration": [
            0.007334128022193909,
            -1.164555549621582,
            0.000654216855764389
        ],
        "angular_velocity": [
            -0.11933569610118866,
            -0.018325408920645714,
            -0.4093273878097534
        ],
        "forward_vector": [
            -0.006148814223706722,
            0.9999801516532898,
            0.001386284246109426
        ],
        "right_vector": [
            -0.9999811053276062,
            -0.006148803047835827,
            -1.2339615750533994e-05
        ],
        "location": [
            2185.0244140625,
            2508.521484375,
            365.1117858886719
        ],
        "rotation": [
            0.0007070085848681629,
            0.07942826300859451,
            90.35230255126953
        ],
        "velocity": [
            -0.02466517686843872,
            3.8694069385528564,
            0.012733077630400658
        ],
        "speed": 3.8694855506993355,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.830751419067383,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2160.612060546875,
                2527.34814453125,
                364.7524108886719
            ],
            "velocity": [
                5.585081577301025,
                -0.01183727104216814,
                0.032001905143260956
            ],
            "speed_kmh": 20.106668895309706,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8692359924316406,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.0723876953125
                    },
                    "rotation": {
                        "roll": 0.0015417324611917138,
                        "pitch": 0.3623141944408417,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.00050311692757532,
                    "y": -0.005550875328481197,
                    "z": -0.869218111038208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.185763955116272,
                "transform": {
                    "location": {
                        "x": 2185.166259765625,
                        "y": 2443.3115234375,
                        "z": 364.61419677734375
                    },
                    "rotation": {
                        "roll": -0.0023803524672985077,
                        "pitch": 0.7763943672180176,
                        "yaw": 90.11151123046875
                    }
                },
                "velocity": {
                    "x": -0.014993395656347275,
                    "y": 1.1847453117370605,
                    "z": 0.0467967689037323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2725958824157715,
                "transform": {
                    "location": {
                        "x": 2137.684326171875,
                        "y": 2527.32080078125,
                        "z": 364.802734375
                    },
                    "rotation": {
                        "roll": 0.0006227248813956976,
                        "pitch": -0.33541691303253174,
                        "yaw": 0.3794243633747101
                    }
                },
                "velocity": {
                    "x": 4.27217960357666,
                    "y": 0.05751403048634529,
                    "z": -0.015800466760993004
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.17252254486084,
                "transform": {
                    "location": {
                        "x": 2232.452880859375,
                        "y": 2524.298583984375,
                        "z": 366.4265441894531
                    },
                    "rotation": {
                        "roll": -0.020599359646439552,
                        "pitch": -1.6335762739181519,
                        "yaw": -179.60443115234375
                    }
                },
                "velocity": {
                    "x": -6.169431209564209,
                    "y": -0.046603973954916,
                    "z": -0.18968486785888672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.841807842254639,
                "transform": {
                    "location": {
                        "x": 2187.87548828125,
                        "y": 2558.913330078125,
                        "z": 365.1346740722656
                    },
                    "rotation": {
                        "roll": 0.006874755956232548,
                        "pitch": 0.026644567027688026,
                        "yaw": -89.70904541015625
                    }
                },
                "velocity": {
                    "x": 0.02755972370505333,
                    "y": -5.84171199798584,
                    "z": 0.01899206079542637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.454282283782959,
                "transform": {
                    "location": {
                        "x": 2187.9033203125,
                        "y": 2544.83740234375,
                        "z": 365.16436767578125
                    },
                    "rotation": {
                        "roll": 0.0006146261584945023,
                        "pitch": 0.022129811346530914,
                        "yaw": -89.85147857666016
                    }
                },
                "velocity": {
                    "x": 0.009875984862446785,
                    "y": -4.454268932342529,
                    "z": 0.004669751971960068
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.354645252227783,
                "transform": {
                    "location": {
                        "x": 2210.426513671875,
                        "y": 2524.28955078125,
                        "z": 365.77081298828125
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -1.570253610610962,
                        "yaw": 179.88265991210938
                    }
                },
                "velocity": {
                    "x": -5.352734088897705,
                    "y": 0.011020861566066742,
                    "z": -0.14262709021568298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.585185527801514,
                "transform": {
                    "location": {
                        "x": 2160.612060546875,
                        "y": 2527.34814453125,
                        "z": 364.7524108886719
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": 0.28580242395401,
                        "yaw": -0.113494873046875
                    }
                },
                "velocity": {
                    "x": 5.585081577301025,
                    "y": -0.01183727104216814,
                    "z": 0.032001905143260956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3191158771514893,
                "transform": {
                    "location": {
                        "x": 2185.05859375,
                        "y": 2459.499267578125,
                        "z": 364.76580810546875
                    },
                    "rotation": {
                        "roll": -0.004364032298326492,
                        "pitch": 0.7713605165481567,
                        "yaw": 89.8515853881836
                    }
                },
                "velocity": {
                    "x": -0.0018467606278136373,
                    "y": 2.3189926147460938,
                    "z": 0.02384728379547596
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005917904782108963,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 8.000247362360824e-06,
                    "y": -4.737614744954044e-06,
                    "z": 0.0005917174275964499
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014434638433158398,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0911375284194946e-05,
                    "y": 2.706482064240845e-06,
                    "z": 0.00014390793512575328
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9912109375,
                        "y": 2437.529541015625,
                        "z": 364.513671875
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.354762554168701,
                "transform": {
                    "location": {
                        "x": 2185.038818359375,
                        "y": 2473.00537109375,
                        "z": 364.8846740722656
                    },
                    "rotation": {
                        "roll": -0.00201419391669333,
                        "pitch": 1.0765265226364136,
                        "yaw": 90.05429077148438
                    }
                },
                "velocity": {
                    "x": -0.007467247080057859,
                    "y": 5.354537010192871,
                    "z": 0.04859558865427971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7616865634918213,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2487.813720703125,
                        "z": 365.0031433105469
                    },
                    "rotation": {
                        "roll": 0.0009371963096782565,
                        "pitch": 0.37166473269462585,
                        "yaw": 90.08783721923828
                    }
                },
                "velocity": {
                    "x": -0.005905028432607651,
                    "y": 3.7615933418273926,
                    "z": 0.025812681764364243
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08635742962360382,
        "expert_target_speed": 4.328315932470809,
        "target_point": [
            15.996678506023764,
            8.757451554170972
        ],
        "target_point_next": [
            16.23005521901925,
            36.75654654745947
        ]
    },
    "230": {
        "acceleration": [
            0.017133615911006927,
            -2.684817314147949,
            -0.013271141797304153
        ],
        "angular_velocity": [
            -0.44840750098228455,
            -0.010510825552046299,
            0.6090846061706543
        ],
        "forward_vector": [
            -0.006374358665198088,
            0.999979555606842,
            0.0004687308974098414
        ],
        "right_vector": [
            -0.9999796748161316,
            -0.006374360993504524,
            2.6631603304849705e-06
        ],
        "location": [
            2185.018798828125,
            2509.439208984375,
            365.1148376464844
        ],
        "rotation": [
            -0.00015258786152116954,
            0.026856303215026855,
            90.36522674560547
        ],
        "velocity": [
            -0.022209927439689636,
            3.409759044647217,
            0.009666738100349903
        ],
        "speed": 3.4098313775655207,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.17761993408203,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2161.984375,
                2527.34521484375,
                364.7629089355469
            ],
            "velocity": [
                5.4213690757751465,
                -0.011645044200122356,
                0.050953663885593414
            ],
            "speed_kmh": 19.517835689988978,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13032618165016174,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.0617370605469
                    },
                    "rotation": {
                        "roll": 0.0012161176418885589,
                        "pitch": 0.35904935002326965,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": 3.6537407140713185e-05,
                    "y": 0.0008280602050945163,
                    "z": 0.13032354414463043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.03946852684021,
                "transform": {
                    "location": {
                        "x": 2185.162353515625,
                        "y": 2443.714599609375,
                        "z": 364.6226806640625
                    },
                    "rotation": {
                        "roll": -0.0003356974048074335,
                        "pitch": 0.7782931923866272,
                        "yaw": 90.24726867675781
                    }
                },
                "velocity": {
                    "x": -0.02738826908171177,
                    "y": 2.039078712463379,
                    "z": 0.028972290456295013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.278248310089111,
                "transform": {
                    "location": {
                        "x": 2138.89306640625,
                        "y": 2527.328125,
                        "z": 364.79827880859375
                    },
                    "rotation": {
                        "roll": -0.004241943359375,
                        "pitch": -0.32259663939476013,
                        "yaw": 0.35210198163986206
                    }
                },
                "velocity": {
                    "x": 5.278128147125244,
                    "y": 0.030410736799240112,
                    "z": -0.018533438444137573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.444574356079102,
                "transform": {
                    "location": {
                        "x": 2230.568115234375,
                        "y": 2524.28662109375,
                        "z": 366.36859130859375
                    },
                    "rotation": {
                        "roll": 0.0005816025077365339,
                        "pitch": -1.392853021621704,
                        "yaw": -179.65277099609375
                    }
                },
                "velocity": {
                    "x": -8.440425872802734,
                    "y": -0.03811065852642059,
                    "z": -0.26190680265426636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9351223707199097,
                "transform": {
                    "location": {
                        "x": 2187.87939453125,
                        "y": 2558.0732421875,
                        "z": 365.136474609375
                    },
                    "rotation": {
                        "roll": 0.0010883082868531346,
                        "pitch": -0.404415488243103,
                        "yaw": -89.80066680908203
                    }
                },
                "velocity": {
                    "x": 0.005441669840365648,
                    "y": -0.935102641582489,
                    "z": 0.002712516812607646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.243449687957764,
                "transform": {
                    "location": {
                        "x": 2187.9052734375,
                        "y": 2543.785400390625,
                        "z": 365.16497802734375
                    },
                    "rotation": {
                        "roll": 0.00023278506705537438,
                        "pitch": -0.019288452342152596,
                        "yaw": -89.86610412597656
                    }
                },
                "velocity": {
                    "x": 0.009915245696902275,
                    "y": -4.243437767028809,
                    "z": 0.0017154501983895898
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.07466983795166,
                "transform": {
                    "location": {
                        "x": 2209.124267578125,
                        "y": 2524.29248046875,
                        "z": 365.73626708984375
                    },
                    "rotation": {
                        "roll": 0.0013405259232968092,
                        "pitch": -1.575191855430603,
                        "yaw": 179.87704467773438
                    }
                },
                "velocity": {
                    "x": -5.0728559494018555,
                    "y": 0.010719137266278267,
                    "z": -0.13524730503559113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.421620845794678,
                "transform": {
                    "location": {
                        "x": 2161.984375,
                        "y": 2527.34521484375,
                        "z": 364.7629089355469
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.4472953975200653,
                        "yaw": -0.11611936241388321
                    }
                },
                "velocity": {
                    "x": 5.4213690757751465,
                    "y": -0.011645044200122356,
                    "z": 0.050953663885593414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35847651958465576,
                "transform": {
                    "location": {
                        "x": 2185.058837890625,
                        "y": 2459.7412109375,
                        "z": 364.76812744140625
                    },
                    "rotation": {
                        "roll": 0.0007615097565576434,
                        "pitch": 0.3001594841480255,
                        "yaw": 89.9038314819336
                    }
                },
                "velocity": {
                    "x": -0.0018423505825921893,
                    "y": 0.3584541380405426,
                    "z": 0.0035568426828831434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001145355636253953,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.9880868421751074e-05,
                    "y": -4.222545612719841e-05,
                    "z": 0.0011444042902439833
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005195336998440325,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.49332188104745e-05,
                    "y": 1.3005552318645641e-05,
                    "z": 0.0005187720526009798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.933349609375,
                        "y": 2436.07470703125,
                        "z": 364.49835205078125
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.5504584312438965,
                "transform": {
                    "location": {
                        "x": 2185.036865234375,
                        "y": 2474.350830078125,
                        "z": 364.8972473144531
                    },
                    "rotation": {
                        "roll": 0.0009748839656822383,
                        "pitch": 0.7698442339897156,
                        "yaw": 90.06556701660156
                    }
                },
                "velocity": {
                    "x": -0.006332414224743843,
                    "y": 5.550263404846191,
                    "z": 0.046116046607494354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.806586742401123,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2488.81005859375,
                        "z": 365.0095520019531
                    },
                    "rotation": {
                        "roll": 0.0013066906249150634,
                        "pitch": 0.3889724314212799,
                        "yaw": 90.08051300048828
                    }
                },
                "velocity": {
                    "x": -0.005449263378977776,
                    "y": 3.806501626968384,
                    "z": 0.024857673794031143
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08878624439239502,
        "expert_target_speed": 3.568333365460262,
        "target_point": [
            15.081103541560735,
            8.753737125135109
        ],
        "target_point_next": [
            15.321409420952158,
            36.752773505298116
        ]
    },
    "235": {
        "acceleration": [
            0.011856071650981903,
            -2.7463293075561523,
            -0.004410929977893829
        ],
        "angular_velocity": [
            -0.24698296189308167,
            -0.024233482778072357,
            -0.7735788822174072
        ],
        "forward_vector": [
            -0.0063649374060332775,
            0.9999789595603943,
            -0.0012650485150516033
        ],
        "right_vector": [
            -0.9999797344207764,
            -0.00636496115475893,
            -1.4711636140418705e-05
        ],
        "location": [
            2185.013427734375,
            2510.197998046875,
            365.11749267578125
        ],
        "rotation": [
            0.0008429153240285814,
            -0.07248196005821228,
            90.36468505859375
        ],
        "velocity": [
            -0.018250590190291405,
            2.701418161392212,
            0.009366512298583984
        ],
        "speed": 2.7014798105375455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.65354347229004,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2163.318603515625,
                2527.342529296875,
                364.77374267578125
            ],
            "velocity": [
                5.213922500610352,
                -0.01069486141204834,
                0.047189053148031235
            ],
            "speed_kmh": 18.770929231607692,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1110501289367676,
                "transform": {
                    "location": {
                        "x": 2187.77880859375,
                        "y": 2576.18505859375,
                        "z": 365.08056640625
                    },
                    "rotation": {
                        "roll": -0.004058792255818844,
                        "pitch": 0.45114079117774963,
                        "yaw": -89.9034423828125
                    }
                },
                "velocity": {
                    "x": 0.021122612059116364,
                    "y": -1.1100893020629883,
                    "z": 0.04108402132987976
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.247814655303955,
                "transform": {
                    "location": {
                        "x": 2185.154541015625,
                        "y": 2444.374267578125,
                        "z": 364.63079833984375
                    },
                    "rotation": {
                        "roll": 0.0007510462310165167,
                        "pitch": 0.7952935099601746,
                        "yaw": 90.40445709228516
                    }
                },
                "velocity": {
                    "x": -0.044787414371967316,
                    "y": 3.2472758293151855,
                    "z": 0.03865918144583702
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.66152811050415,
                "transform": {
                    "location": {
                        "x": 2140.24169921875,
                        "y": 2527.336181640625,
                        "z": 364.792724609375
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.2773056626319885,
                        "yaw": 0.30387941002845764
                    }
                },
                "velocity": {
                    "x": 5.661407470703125,
                    "y": 0.029992371797561646,
                    "z": -0.021608686074614525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.102877616882324,
                "transform": {
                    "location": {
                        "x": 2228.48095703125,
                        "y": 2524.27880859375,
                        "z": 366.30389404296875
                    },
                    "rotation": {
                        "roll": -0.0002441407414153218,
                        "pitch": -1.7610207796096802,
                        "yaw": -179.78121948242188
                    }
                },
                "velocity": {
                    "x": -8.099051475524902,
                    "y": -0.025433681905269623,
                    "z": -0.24769289791584015
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8363359570503235,
                "transform": {
                    "location": {
                        "x": 2187.879638671875,
                        "y": 2557.979248046875,
                        "z": 365.1373596191406
                    },
                    "rotation": {
                        "roll": 0.0014737186720594764,
                        "pitch": 0.008045962080359459,
                        "yaw": -89.8013916015625
                    }
                },
                "velocity": {
                    "x": 0.001098762615583837,
                    "y": -0.8363325595855713,
                    "z": 0.002121133729815483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9032387733459473,
                "transform": {
                    "location": {
                        "x": 2187.9072265625,
                        "y": 2542.751708984375,
                        "z": 365.16546630859375
                    },
                    "rotation": {
                        "roll": -3.0517410777974874e-05,
                        "pitch": -0.03561943396925926,
                        "yaw": -89.87254333496094
                    }
                },
                "velocity": {
                    "x": 0.008612211793661118,
                    "y": -3.903228282928467,
                    "z": 0.002646331675350666
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.572818279266357,
                "transform": {
                    "location": {
                        "x": 2207.87158203125,
                        "y": 2524.294921875,
                        "z": 365.702880859375
                    },
                    "rotation": {
                        "roll": -0.00225830078125,
                        "pitch": -1.5835860967636108,
                        "yaw": 179.97344970703125
                    }
                },
                "velocity": {
                    "x": -4.57105827331543,
                    "y": 0.010511090978980064,
                    "z": -0.12641772627830505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.214147090911865,
                "transform": {
                    "location": {
                        "x": 2163.318603515625,
                        "y": 2527.342529296875,
                        "z": 364.77374267578125
                    },
                    "rotation": {
                        "roll": 0.0003679663350339979,
                        "pitch": 0.612531304359436,
                        "yaw": -0.11782833188772202
                    }
                },
                "velocity": {
                    "x": 5.213922500610352,
                    "y": -0.01069486141204834,
                    "z": 0.047189053148031235
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.674537181854248,
                "transform": {
                    "location": {
                        "x": 2185.05859375,
                        "y": 2460.014892578125,
                        "z": 364.77105712890625
                    },
                    "rotation": {
                        "roll": -0.00122064386960119,
                        "pitch": 0.7128463387489319,
                        "yaw": 89.97491455078125
                    }
                },
                "velocity": {
                    "x": -0.0031099601183086634,
                    "y": 1.6744434833526611,
                    "z": 0.017435817047953606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001930086873471737,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.2410506315063685e-05,
                    "y": -9.113134069593798e-07,
                    "z": 0.00019260711269453168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004631548363249749,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.855590178631246e-06,
                    "y": -1.7117523611887009e-06,
                    "z": 0.0004630468029063195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.93212890625,
                        "y": 2434.6865234375,
                        "z": 364.4808654785156
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.331085205078125,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2476.013427734375,
                        "z": 364.90972900390625
                    },
                    "rotation": {
                        "roll": -0.0007323921308852732,
                        "pitch": 1.0424233675003052,
                        "yaw": 90.07122039794922
                    }
                },
                "velocity": {
                    "x": -0.010628568939864635,
                    "y": 7.330840110778809,
                    "z": 0.058935392647981644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6261370182037354,
                "transform": {
                    "location": {
                        "x": 2185.018798828125,
                        "y": 2489.714111328125,
                        "z": 365.0154113769531
                    },
                    "rotation": {
                        "roll": 0.0006694109761156142,
                        "pitch": 0.3496168851852417,
                        "yaw": 90.08560943603516
                    }
                },
                "velocity": {
                    "x": -0.005234177689999342,
                    "y": 3.6260533332824707,
                    "z": 0.024064339697360992
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09859748929738998,
        "expert_target_speed": 2.451811055516924,
        "target_point": [
            14.322051475790527,
            8.75361062585719
        ],
        "target_point_next": [
            14.56157632270357,
            36.75265369845296
        ]
    },
    "240": {
        "acceleration": [
            0.01735897734761238,
            -2.37271785736084,
            -0.012374883517622948
        ],
        "angular_velocity": [
            0.038944367319345474,
            0.020467884838581085,
            1.0081065893173218
        ],
        "forward_vector": [
            -0.006606565788388252,
            0.9999768733978271,
            -0.0016282788710668683
        ],
        "right_vector": [
            -0.9999781847000122,
            -0.006606625393033028,
            -3.125186776742339e-05
        ],
        "location": [
            2185.009521484375,
            2510.7890625,
            365.1195373535156
        ],
        "rotation": [
            0.0017906023422256112,
            -0.09329354763031006,
            90.37853240966797
        ],
        "velocity": [
            -0.014135443605482578,
            2.0699734687805176,
            0.00754966726526618
        ],
        "speed": 2.0700217323064924,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.292837142944336,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2164.58203125,
                2527.339599609375,
                364.786865234375
            ],
            "velocity": [
                5.02099609375,
                -0.009932734072208405,
                0.05830082669854164
            ],
            "speed_kmh": 18.076839781082377,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0315444469451904,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2575.78857421875,
                        "z": 365.086669921875
                    },
                    "rotation": {
                        "roll": 0.0014852664899080992,
                        "pitch": 0.45723333954811096,
                        "yaw": -89.77838134765625
                    }
                },
                "velocity": {
                    "x": 0.021251562982797623,
                    "y": -2.0313572883605957,
                    "z": 0.01756516471505165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.597480773925781,
                "transform": {
                    "location": {
                        "x": 2185.142333984375,
                        "y": 2445.36669921875,
                        "z": 364.6423645019531
                    },
                    "rotation": {
                        "roll": 0.0036157206632196903,
                        "pitch": 0.8117406368255615,
                        "yaw": 90.57086944580078
                    }
                },
                "velocity": {
                    "x": -0.0645885095000267,
                    "y": 4.59671688079834,
                    "z": 0.05342138186097145
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.796605110168457,
                "transform": {
                    "location": {
                        "x": 2141.7509765625,
                        "y": 2527.34423828125,
                        "z": 364.78729248046875
                    },
                    "rotation": {
                        "roll": -0.0027465817984193563,
                        "pitch": -0.3230884075164795,
                        "yaw": 0.30526503920555115
                    }
                },
                "velocity": {
                    "x": 6.796462059020996,
                    "y": 0.03614448383450508,
                    "z": -0.025316214188933372
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.867793083190918,
                "transform": {
                    "location": {
                        "x": 2226.50830078125,
                        "y": 2524.2734375,
                        "z": 366.24261474609375
                    },
                    "rotation": {
                        "roll": -0.0022277822718024254,
                        "pitch": -1.8027873039245605,
                        "yaw": -179.8629608154297
                    }
                },
                "velocity": {
                    "x": -7.863945007324219,
                    "y": -0.017992448061704636,
                    "z": -0.245381161570549
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7099997997283936,
                "transform": {
                    "location": {
                        "x": 2187.880615234375,
                        "y": 2557.6455078125,
                        "z": 365.1387023925781
                    },
                    "rotation": {
                        "roll": 0.001295373891480267,
                        "pitch": 0.2527238130569458,
                        "yaw": -89.84285736083984
                    }
                },
                "velocity": {
                    "x": 0.005461371038109064,
                    "y": -1.7099794149398804,
                    "z": 0.006330013275146484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8940961360931396,
                "transform": {
                    "location": {
                        "x": 2187.9091796875,
                        "y": 2541.774658203125,
                        "z": 365.16552734375
                    },
                    "rotation": {
                        "roll": -0.00039672874845564365,
                        "pitch": -0.005955924745649099,
                        "yaw": -89.87716674804688
                    }
                },
                "velocity": {
                    "x": 0.008360825479030609,
                    "y": -3.894087076187134,
                    "z": 0.0013196372892707586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.26155948638916,
                "transform": {
                    "location": {
                        "x": 2206.8564453125,
                        "y": 2524.29638671875,
                        "z": 365.6756591796875
                    },
                    "rotation": {
                        "roll": -0.006317138206213713,
                        "pitch": -1.5900884866714478,
                        "yaw": -179.9541778564453
                    }
                },
                "velocity": {
                    "x": -4.26006555557251,
                    "y": 0.004071034025400877,
                    "z": -0.11275684833526611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.021344184875488,
                "transform": {
                    "location": {
                        "x": 2164.58203125,
                        "y": 2527.339599609375,
                        "z": 364.786865234375
                    },
                    "rotation": {
                        "roll": 0.0009052777895703912,
                        "pitch": 0.6385611891746521,
                        "yaw": -0.1300048828125
                    }
                },
                "velocity": {
                    "x": 5.02099609375,
                    "y": -0.009932734072208405,
                    "z": 0.05830082669854164
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.1340458393096924,
                "transform": {
                    "location": {
                        "x": 2185.057373046875,
                        "y": 2460.61474609375,
                        "z": 364.7772521972656
                    },
                    "rotation": {
                        "roll": -0.002105658408254385,
                        "pitch": 0.8393072485923767,
                        "yaw": 90.04888916015625
                    }
                },
                "velocity": {
                    "x": -0.0064500486478209496,
                    "y": 3.133894920349121,
                    "z": 0.030054597184062004
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022493071446660906,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -4.711933343060082e-06,
                    "y": -4.805177013622597e-05,
                    "z": -0.00021968763030599803
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012078466825187206,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.541697181703057e-06,
                    "y": -5.840505679088892e-08,
                    "z": 0.0012078089639544487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.93115234375,
                        "y": 2433.363525390625,
                        "z": 364.46417236328125
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6671037673950195,
                "transform": {
                    "location": {
                        "x": 2185.032958984375,
                        "y": 2477.94677734375,
                        "z": 364.9259033203125
                    },
                    "rotation": {
                        "roll": -0.0013122507371008396,
                        "pitch": 0.8193426132202148,
                        "yaw": 90.09735870361328
                    }
                },
                "velocity": {
                    "x": -0.011229968629777431,
                    "y": 7.666863918304443,
                    "z": 0.059599682688713074
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.39601469039917,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2490.56201171875,
                        "z": 365.0207824707031
                    },
                    "rotation": {
                        "roll": 0.0004075237375218421,
                        "pitch": 0.3338527977466583,
                        "yaw": 90.07518768310547
                    }
                },
                "velocity": {
                    "x": -0.0036103716120123863,
                    "y": 3.395944833755493,
                    "z": 0.02146579697728157
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0998106300830841,
        "expert_target_speed": 1.1660501483041834,
        "target_point": [
            13.733146265145011,
            8.750053780546756
        ],
        "target_point_next": [
            13.979620291849587,
            36.749036542202965
        ]
    },
    "245": {
        "acceleration": [
            0.01393873244524002,
            -1.9367361068725586,
            -0.005456926301121712
        ],
        "angular_velocity": [
            0.14363126456737518,
            0.05623127147555351,
            -1.0662038326263428
        ],
        "forward_vector": [
            -0.0064958264119923115,
            0.9999781250953674,
            -0.0012245173566043377
        ],
        "right_vector": [
            -0.9999788999557495,
            -0.006495879963040352,
            -3.942626062780619e-05
        ],
        "location": [
            2185.006591796875,
            2511.235595703125,
            365.1208190917969
        ],
        "rotation": [
            0.002258959924802184,
            -0.07015969604253769,
            90.37218475341797
        ],
        "velocity": [
            -0.010419623926281929,
            1.5395855903625488,
            0.005549096968024969
        ],
        "speed": 1.5396208489802816,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.06836700439453,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2165.795654296875,
                2527.337158203125,
                364.800537109375
            ],
            "velocity": [
                4.711252689361572,
                -0.009569418616592884,
                0.062006205320358276
            ],
            "speed_kmh": 16.9620135500443,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3087539672851562,
                "transform": {
                    "location": {
                        "x": 2187.7890625,
                        "y": 2575.12255859375,
                        "z": 365.0911560058594
                    },
                    "rotation": {
                        "roll": -0.0009460408473387361,
                        "pitch": 0.47856399416923523,
                        "yaw": -89.65939331054688
                    }
                },
                "velocity": {
                    "x": 0.03550245985388756,
                    "y": -3.308504581451416,
                    "z": 0.019716329872608185
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.221726894378662,
                "transform": {
                    "location": {
                        "x": 2185.12548828125,
                        "y": 2446.642578125,
                        "z": 364.657958984375
                    },
                    "rotation": {
                        "roll": 0.01245714258402586,
                        "pitch": 0.7587588429450989,
                        "yaw": 90.61175537109375
                    }
                },
                "velocity": {
                    "x": -0.050675708800554276,
                    "y": 5.221131324768066,
                    "z": 0.0604591928422451
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.15627384185791,
                "transform": {
                    "location": {
                        "x": 2143.646484375,
                        "y": 2527.352783203125,
                        "z": 364.7803039550781
                    },
                    "rotation": {
                        "roll": -0.008056640625,
                        "pitch": -0.3539403975009918,
                        "yaw": 0.24779029190540314
                    }
                },
                "velocity": {
                    "x": 8.156201362609863,
                    "y": 0.015097616240382195,
                    "z": -0.030901921913027763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.177931785583496,
                "transform": {
                    "location": {
                        "x": 2224.492431640625,
                        "y": 2524.271484375,
                        "z": 366.1806945800781
                    },
                    "rotation": {
                        "roll": 0.0031589576974511147,
                        "pitch": -1.7219520807266235,
                        "yaw": -179.9412078857422
                    }
                },
                "velocity": {
                    "x": -8.174172401428223,
                    "y": -0.0031433075200766325,
                    "z": -0.24791397154331207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.039602041244507,
                "transform": {
                    "location": {
                        "x": 2187.8828125,
                        "y": 2557.056396484375,
                        "z": 365.14056396484375
                    },
                    "rotation": {
                        "roll": 0.0005448244628496468,
                        "pitch": 0.35085996985435486,
                        "yaw": -89.79650115966797
                    }
                },
                "velocity": {
                    "x": 0.010705558583140373,
                    "y": -3.0395748615264893,
                    "z": 0.007129993289709091
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.589022636413574,
                "transform": {
                    "location": {
                        "x": 2187.9111328125,
                        "y": 2540.85302734375,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": 0.0003767594462260604,
                        "pitch": -0.05322766304016113,
                        "yaw": -89.87993621826172
                    }
                },
                "velocity": {
                    "x": 0.0059689711779356,
                    "y": -3.589017629623413,
                    "z": 0.0009018993005156517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.599332332611084,
                "transform": {
                    "location": {
                        "x": 2205.6884765625,
                        "y": 2524.298095703125,
                        "z": 365.6448669433594
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -1.4975872039794922,
                        "yaw": 179.9641571044922
                    }
                },
                "velocity": {
                    "x": -4.597781181335449,
                    "y": 0.007395425345748663,
                    "z": -0.1192031279206276
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.711670398712158,
                "transform": {
                    "location": {
                        "x": 2165.795654296875,
                        "y": 2527.337158203125,
                        "z": 364.800537109375
                    },
                    "rotation": {
                        "roll": 0.0007135124760679901,
                        "pitch": 0.6352553963661194,
                        "yaw": -0.1009521484375
                    }
                },
                "velocity": {
                    "x": 4.711252689361572,
                    "y": -0.009569418616592884,
                    "z": 0.062006205320358276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.637646198272705,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2461.60009765625,
                        "z": 364.7869873046875
                    },
                    "rotation": {
                        "roll": -0.0011291415430605412,
                        "pitch": 0.878574013710022,
                        "yaw": 90.08248901367188
                    }
                },
                "velocity": {
                    "x": -0.007923824712634087,
                    "y": 4.637416362762451,
                    "z": 0.045495498925447464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00041490953299216926,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.1079609066655394e-05,
                    "y": 5.980802143312758e-06,
                    "z": 0.0004147184663452208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009315921342931688,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 5.291253273753682e-06,
                    "y": -1.310707284574164e-05,
                    "z": 0.0009314849157817662
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5074,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9306640625,
                        "y": 2432.1025390625,
                        "z": 364.4482727050781
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.373509407043457,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2479.704345703125,
                        "z": 364.9416809082031
                    },
                    "rotation": {
                        "roll": -0.00042725083767436445,
                        "pitch": 0.24333231151103973,
                        "yaw": 90.08170318603516
                    }
                },
                "velocity": {
                    "x": -0.009218213148415089,
                    "y": 6.373323917388916,
                    "z": 0.047747571021318436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6690804958343506,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2491.33935546875,
                        "z": 365.0256652832031
                    },
                    "rotation": {
                        "roll": 0.0012058595893904567,
                        "pitch": 0.2459346055984497,
                        "yaw": 90.07695007324219
                    }
                },
                "velocity": {
                    "x": -0.0029833209700882435,
                    "y": 2.669020891189575,
                    "z": 0.01756904646754265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09933450818061829,
        "expert_target_speed": 0.0,
        "target_point": [
            13.285729276009832,
            8.751400952317873
        ],
        "target_point_next": [
            13.529406276338646,
            36.750408196376945
        ]
    },
    "250": {
        "acceleration": [
            -0.005252333357930183,
            -1.3365817070007324,
            -0.0046174973249435425
        ],
        "angular_velocity": [
            0.20022115111351013,
            -0.013107399456202984,
            1.2143702507019043
        ],
        "forward_vector": [
            -0.006782522425055504,
            0.9999768733978271,
            -0.00043678280781023204
        ],
        "right_vector": [
            -0.9999769926071167,
            -0.006782540585845709,
            -3.971270052716136e-05
        ],
        "location": [
            2185.004638671875,
            2511.566162109375,
            365.1216735839844
        ],
        "rotation": [
            0.002275370294228196,
            -0.025025811046361923,
            90.38861083984375
        ],
        "velocity": [
            -0.00793512538075447,
            1.1410456895828247,
            0.004507589153945446
        ],
        "speed": 1.141073280701267,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.97772789001465,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2166.944091796875,
                2527.3349609375,
                364.81658935546875
            ],
            "velocity": [
                4.499349117279053,
                -0.009781784377992153,
                0.06844909489154816
            ],
            "speed_kmh": 16.199569370699248,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.648470878601074,
                "transform": {
                    "location": {
                        "x": 2187.798583984375,
                        "y": 2574.11865234375,
                        "z": 365.09722900390625
                    },
                    "rotation": {
                        "roll": 0.0018207652028650045,
                        "pitch": 0.4884609580039978,
                        "yaw": -89.54159545898438
                    }
                },
                "velocity": {
                    "x": 0.05047951266169548,
                    "y": -4.648112773895264,
                    "z": 0.027914170175790787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.74687385559082,
                "transform": {
                    "location": {
                        "x": 2185.113037109375,
                        "y": 2448.015625,
                        "z": 364.6739807128906
                    },
                    "rotation": {
                        "roll": 0.008432149887084961,
                        "pitch": 0.7143216133117676,
                        "yaw": 90.50515747070312
                    }
                },
                "velocity": {
                    "x": -0.04292449355125427,
                    "y": 5.7463507652282715,
                    "z": 0.06458261609077454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.135135650634766,
                "transform": {
                    "location": {
                        "x": 2145.7099609375,
                        "y": 2527.35693359375,
                        "z": 364.7716064453125
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": -0.2439880073070526,
                        "yaw": 0.1281365603208542
                    }
                },
                "velocity": {
                    "x": 8.135069847106934,
                    "y": 0.01112522091716528,
                    "z": -0.030725063756108284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.610998630523682,
                "transform": {
                    "location": {
                        "x": 2222.51318359375,
                        "y": 2524.271728515625,
                        "z": 366.1202697753906
                    },
                    "rotation": {
                        "roll": 0.0010885404190048575,
                        "pitch": -1.8423751592636108,
                        "yaw": 179.9810791015625
                    }
                },
                "velocity": {
                    "x": -7.607444763183594,
                    "y": 0.0028013279661536217,
                    "z": -0.23255150020122528
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.498401165008545,
                "transform": {
                    "location": {
                        "x": 2187.88623046875,
                        "y": 2556.16650390625,
                        "z": 365.1429748535156
                    },
                    "rotation": {
                        "roll": 0.0007001149351708591,
                        "pitch": 0.2610020041465759,
                        "yaw": -89.79983520507812
                    }
                },
                "velocity": {
                    "x": 0.01242411695420742,
                    "y": -3.4983651638031006,
                    "z": 0.009854611940681934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4751381874084473,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2540.08349609375,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": 0.00029275272390805185,
                        "pitch": -0.1991819590330124,
                        "yaw": -89.89244842529297
                    }
                },
                "velocity": {
                    "x": 0.0040265596471726894,
                    "y": -2.47513484954834,
                    "z": 0.0003106880176346749
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.224259853363037,
                "transform": {
                    "location": {
                        "x": 2204.61767578125,
                        "y": 2524.300048828125,
                        "z": 365.6173095703125
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": -1.522824764251709,
                        "yaw": 179.91851806640625
                    }
                },
                "velocity": {
                    "x": -4.222843170166016,
                    "y": 0.0084740174934268,
                    "z": -0.10905253887176514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.499880313873291,
                "transform": {
                    "location": {
                        "x": 2166.944091796875,
                        "y": 2527.3349609375,
                        "z": 364.81658935546875
                    },
                    "rotation": {
                        "roll": 0.002369324676692486,
                        "pitch": 0.7773916125297546,
                        "yaw": -0.1089477464556694
                    }
                },
                "velocity": {
                    "x": 4.499349117279053,
                    "y": -0.009781784377992153,
                    "z": 0.06844909489154816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.378884792327881,
                "transform": {
                    "location": {
                        "x": 2185.0537109375,
                        "y": 2462.899658203125,
                        "z": 364.80010986328125
                    },
                    "rotation": {
                        "roll": 0.0013235724763944745,
                        "pitch": 0.7604527473449707,
                        "yaw": 90.08230590820312
                    }
                },
                "velocity": {
                    "x": -0.008154677227139473,
                    "y": 5.378621578216553,
                    "z": 0.05260445550084114
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.8145585019956343e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.40406937134685e-05,
                    "y": -2.4305336410179734e-05,
                    "z": 2.069648871838581e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013002420018892735,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.324476195615716e-06,
                    "y": -9.24638061405858e-06,
                    "z": -0.00012935938138980418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6079158186912537,
                "transform": {
                    "location": {
                        "x": 2185.030029296875,
                        "y": 2480.514892578125,
                        "z": 364.9526062011719
                    },
                    "rotation": {
                        "roll": 0.005973380524665117,
                        "pitch": -1.1647043228149414,
                        "yaw": 90.02278900146484
                    }
                },
                "velocity": {
                    "x": 0.0004420803743414581,
                    "y": 0.6079111695289612,
                    "z": 0.002334546996280551
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4212543964385986,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2491.94580078125,
                        "z": 365.0295104980469
                    },
                    "rotation": {
                        "roll": 0.00025464105419814587,
                        "pitch": 0.2812057137489319,
                        "yaw": 90.06810760498047
                    }
                },
                "velocity": {
                    "x": -0.0031044590286910534,
                    "y": 2.421215295791626,
                    "z": 0.0133822625502944
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10419784486293793,
        "expert_target_speed": 0.0,
        "target_point": [
            12.957589568089244,
            8.747996557801224
        ],
        "target_point_next": [
            13.20905017269017,
            36.746934978707394
        ]
    },
    "255": {
        "acceleration": [
            0.020394055172801018,
            -1.0763752460479736,
            -0.010198976844549179
        ],
        "angular_velocity": [
            0.162679523229599,
            0.00785068329423666,
            -1.2710905075073242
        ],
        "forward_vector": [
            -0.0066029978916049,
            0.9999781250953674,
            0.0004078149504493922
        ],
        "right_vector": [
            -0.9999781847000122,
            -0.0066029904410243034,
            -1.9190569219063036e-05
        ],
        "location": [
            2185.00244140625,
            2511.81201171875,
            365.12237548828125
        ],
        "rotation": [
            0.0010995387565344572,
            0.02336607500910759,
            90.37832641601562
        ],
        "velocity": [
            -0.00532578956335783,
            0.8440059423446655,
            0.0018902587471529841
        ],
        "speed": 0.8440227453970539,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.99026107788086,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2168.04443359375,
                2527.332763671875,
                364.8319091796875
            ],
            "velocity": [
                4.298256874084473,
                -0.008961821906268597,
                0.06376033276319504
            ],
            "speed_kmh": 15.475460760013217,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.8468933105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 2.5052198537878212e-08,
                    "y": -5.507332090370909e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.304522514343262,
                "transform": {
                    "location": {
                        "x": 2187.812255859375,
                        "y": 2572.834716796875,
                        "z": 365.1056823730469
                    },
                    "rotation": {
                        "roll": 0.0015260701766237617,
                        "pitch": 0.4314698576927185,
                        "yaw": -89.5248031616211
                    }
                },
                "velocity": {
                    "x": 0.05794452130794525,
                    "y": -5.304111957550049,
                    "z": 0.03159085288643837
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.443734169006348,
                "transform": {
                    "location": {
                        "x": 2185.10009765625,
                        "y": 2449.743896484375,
                        "z": 364.69287109375
                    },
                    "rotation": {
                        "roll": 0.005402030888944864,
                        "pitch": 0.7988452315330505,
                        "yaw": 90.48290252685547
                    }
                },
                "velocity": {
                    "x": -0.05563000589609146,
                    "y": 7.443052291870117,
                    "z": 0.08399684727191925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.933606147766113,
                "transform": {
                    "location": {
                        "x": 2147.707275390625,
                        "y": 2527.3603515625,
                        "z": 364.7635803222656
                    },
                    "rotation": {
                        "roll": 3.082883949900861e-06,
                        "pitch": -0.1972353607416153,
                        "yaw": 0.08941829204559326
                    }
                },
                "velocity": {
                    "x": 7.933544635772705,
                    "y": 0.010541490279138088,
                    "z": -0.029435448348522186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.123085021972656,
                "transform": {
                    "location": {
                        "x": 2220.685791015625,
                        "y": 2524.272705078125,
                        "z": 366.06494140625
                    },
                    "rotation": {
                        "roll": 0.0013064787490293384,
                        "pitch": -1.839684009552002,
                        "yaw": 179.982421875
                    }
                },
                "velocity": {
                    "x": -7.119951248168945,
                    "y": 0.006139625795185566,
                    "z": -0.21118293702602386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.035524845123291,
                "transform": {
                    "location": {
                        "x": 2187.888671875,
                        "y": 2555.3837890625,
                        "z": 365.1449890136719
                    },
                    "rotation": {
                        "roll": -9.155071165878326e-05,
                        "pitch": 0.1094127967953682,
                        "yaw": -89.81431579589844
                    }
                },
                "velocity": {
                    "x": 0.007806662004441023,
                    "y": -3.0354979038238525,
                    "z": 0.01016328763216734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005950341932475567,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8828125,
                        "z": 365.1654968261719
                    },
                    "rotation": {
                        "roll": -0.0004272475198376924,
                        "pitch": -0.461789071559906,
                        "yaw": -89.89212036132812
                    }
                },
                "velocity": {
                    "x": -8.022288966458291e-05,
                    "y": 0.005915689282119274,
                    "z": -0.000636198790743947
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9641544818878174,
                "transform": {
                    "location": {
                        "x": 2203.57568359375,
                        "y": 2524.302001953125,
                        "z": 365.5905456542969
                    },
                    "rotation": {
                        "roll": 0.000938015291467309,
                        "pitch": -1.4824241399765015,
                        "yaw": 179.89382934570312
                    }
                },
                "velocity": {
                    "x": -3.962815761566162,
                    "y": 0.009021054953336716,
                    "z": -0.10261903703212738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.298738956451416,
                "transform": {
                    "location": {
                        "x": 2168.04443359375,
                        "y": 2527.332763671875,
                        "z": 364.8319091796875
                    },
                    "rotation": {
                        "roll": 0.0005005827988497913,
                        "pitch": 0.9143915176391602,
                        "yaw": -0.1170959398150444
                    }
                },
                "velocity": {
                    "x": 4.298256874084473,
                    "y": -0.008961821906268597,
                    "z": 0.06376033276319504
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.024022102355957,
                "transform": {
                    "location": {
                        "x": 2185.0517578125,
                        "y": 2464.280029296875,
                        "z": 364.813232421875
                    },
                    "rotation": {
                        "roll": 0.0005110185593366623,
                        "pitch": 0.6710933446884155,
                        "yaw": 90.08443450927734
                    }
                },
                "velocity": {
                    "x": -0.009280364029109478,
                    "y": 6.023738384246826,
                    "z": 0.0577087476849556
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00045614453847520053,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.5083029211382382e-05,
                    "y": 1.963811882887967e-05,
                    "z": 0.0004554719489533454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007603100966662169,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.390928602835629e-05,
                    "y": -1.4575905879610218e-05,
                    "z": 0.0007597943185828626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.302276849746704,
                "transform": {
                    "location": {
                        "x": 2185.030029296875,
                        "y": 2480.689697265625,
                        "z": 364.9504699707031
                    },
                    "rotation": {
                        "roll": 0.005287062842398882,
                        "pitch": -0.26440343260765076,
                        "yaw": 90.027099609375
                    }
                },
                "velocity": {
                    "x": -0.0011225661728531122,
                    "y": 1.3022319078445435,
                    "z": 0.010759963653981686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6697075366973877,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2492.62841796875,
                        "z": 365.0337829589844
                    },
                    "rotation": {
                        "roll": 0.0001059369242284447,
                        "pitch": 0.3772449791431427,
                        "yaw": 90.07229614257812
                    }
                },
                "velocity": {
                    "x": -0.0024697419721633196,
                    "y": 2.669647216796875,
                    "z": 0.01776072382926941
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10727665573358536,
        "expert_target_speed": 0.0,
        "target_point": [
            12.71025186740641,
            8.749615719043636
        ],
        "target_point_next": [
            12.956979562252947,
            36.748596246519234
        ]
    },
    "260": {
        "acceleration": [
            0.002649296075105667,
            -0.8916676044464111,
            0.004719353746622801
        ],
        "angular_velocity": [
            0.11060741543769836,
            -0.018409036099910736,
            1.3367799520492554
        ],
        "forward_vector": [
            -0.006862984038889408,
            0.9999759197235107,
            0.0010097024496644735
        ],
        "right_vector": [
            -0.9999764561653137,
            -0.006862957961857319,
            -2.9425717002595775e-05
        ],
        "location": [
            2185.0009765625,
            2511.990966796875,
            365.1227111816406
        ],
        "rotation": [
            0.001685970346443355,
            0.057851698249578476,
            90.39322662353516
        ],
        "velocity": [
            -0.004151212051510811,
            0.60455721616745,
            0.001772603951394558
        ],
        "speed": 0.604571468216648,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.100719451904297,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2169.09326171875,
                2527.330810546875,
                364.8477783203125
            ],
            "velocity": [
                4.099498748779297,
                -0.008532977662980556,
                0.06969871371984482
            ],
            "speed_kmh": 14.760360308909789,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.040402378886938095,
                "transform": {
                    "location": {
                        "x": 2236.93896484375,
                        "y": 2524.330322265625,
                        "z": 366.5157775878906
                    },
                    "rotation": {
                        "roll": 0.00017149635823443532,
                        "pitch": -1.7689505815505981,
                        "yaw": 179.87420654296875
                    }
                },
                "velocity": {
                    "x": 0.0011646782513707876,
                    "y": 0.0004523101379163563,
                    "z": -0.04038305580615997
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.414162635803223,
                "transform": {
                    "location": {
                        "x": 2187.827880859375,
                        "y": 2571.4697265625,
                        "z": 365.11376953125
                    },
                    "rotation": {
                        "roll": 0.0017698951996862888,
                        "pitch": 0.3642744719982147,
                        "yaw": -89.53701782226562
                    }
                },
                "velocity": {
                    "x": 0.060172662138938904,
                    "y": -5.413753509521484,
                    "z": 0.028426503762602806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.6032586097717285,
                "transform": {
                    "location": {
                        "x": 2185.086181640625,
                        "y": 2451.62109375,
                        "z": 364.7149658203125
                    },
                    "rotation": {
                        "roll": 0.007508913986384869,
                        "pitch": 0.7010437250137329,
                        "yaw": 90.40702819824219
                    }
                },
                "velocity": {
                    "x": -0.03969773277640343,
                    "y": 7.602689266204834,
                    "z": 0.08413852751255035
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.814230442047119,
                "transform": {
                    "location": {
                        "x": 2149.684326171875,
                        "y": 2527.3603515625,
                        "z": 364.7561950683594
                    },
                    "rotation": {
                        "roll": -0.0031127927359193563,
                        "pitch": -0.20959118008613586,
                        "yaw": 0.010488905943930149
                    }
                },
                "velocity": {
                    "x": 7.814174652099609,
                    "y": -0.004500149749219418,
                    "z": -0.029173478484153748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.973239898681641,
                "transform": {
                    "location": {
                        "x": 2218.9228515625,
                        "y": 2524.274658203125,
                        "z": 366.01287841796875
                    },
                    "rotation": {
                        "roll": 0.002495818305760622,
                        "pitch": -1.7194522619247437,
                        "yaw": 179.919677734375
                    }
                },
                "velocity": {
                    "x": -6.970131874084473,
                    "y": 0.009702501818537712,
                    "z": -0.2079368233680725
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.344123363494873,
                "transform": {
                    "location": {
                        "x": 2187.890625,
                        "y": 2554.5478515625,
                        "z": 365.1473083496094
                    },
                    "rotation": {
                        "roll": 0.0002806991687975824,
                        "pitch": 0.1596146821975708,
                        "yaw": -89.84100341796875
                    }
                },
                "velocity": {
                    "x": 0.008023921400308609,
                    "y": -3.344102621078491,
                    "z": 0.0085879135876894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002190978964790702,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.880615234375,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": 0.0001389520039083436,
                        "pitch": -0.12969845533370972,
                        "yaw": -89.89216613769531
                    }
                },
                "velocity": {
                    "x": 1.0405477951280773e-05,
                    "y": 0.002185882069170475,
                    "z": -0.00014899810776114464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.932222843170166,
                "transform": {
                    "location": {
                        "x": 2202.59033203125,
                        "y": 2524.303955078125,
                        "z": 365.5656433105469
                    },
                    "rotation": {
                        "roll": 0.0016682866262272,
                        "pitch": -1.4357329607009888,
                        "yaw": 179.8739013671875
                    }
                },
                "velocity": {
                    "x": -3.9310176372528076,
                    "y": 0.009393668733537197,
                    "z": -0.09689028561115265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.100100040435791,
                "transform": {
                    "location": {
                        "x": 2169.09326171875,
                        "y": 2527.330810546875,
                        "z": 364.8477783203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9792646765708923,
                        "yaw": -0.11621091514825821
                    }
                },
                "velocity": {
                    "x": 4.099498748779297,
                    "y": -0.008532977662980556,
                    "z": 0.06969871371984482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.991174697875977,
                "transform": {
                    "location": {
                        "x": 2185.048095703125,
                        "y": 2466.11376953125,
                        "z": 364.8307189941406
                    },
                    "rotation": {
                        "roll": -0.0005798863130621612,
                        "pitch": 0.8730757236480713,
                        "yaw": 90.08757781982422
                    }
                },
                "velocity": {
                    "x": -0.015727387741208076,
                    "y": 7.990799903869629,
                    "z": 0.0757777988910675
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00028655625646933913,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.1274740245426074e-05,
                    "y": 9.654082532506436e-06,
                    "z": 0.000286171562038362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005507939495146275,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.0121558918617666e-05,
                    "y": -4.086267654201947e-05,
                    "z": 0.0005489073810167611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.274893283843994,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2481.148681640625,
                        "z": 364.95111083984375
                    },
                    "rotation": {
                        "roll": 0.0015380517579615116,
                        "pitch": 0.500550389289856,
                        "yaw": 90.08045959472656
                    }
                },
                "velocity": {
                    "x": -0.0030604484491050243,
                    "y": 2.2748312950134277,
                    "z": 0.01650848425924778
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5383937358856201,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2493.05419921875,
                        "z": 365.0364074707031
                    },
                    "rotation": {
                        "roll": -0.0008239750750362873,
                        "pitch": -0.0313437357544899,
                        "yaw": 89.97144317626953
                    }
                },
                "velocity": {
                    "x": -0.0012851705541834235,
                    "y": 0.538389265537262,
                    "z": 0.0017741202609613538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10666779428720474,
        "expert_target_speed": 0.0,
        "target_point": [
            12.533533057511356,
            8.746122546288635
        ],
        "target_point_next": [
            12.787436882115772,
            36.74503891784154
        ]
    },
    "265": {
        "acceleration": [
            0.014795721508562565,
            -0.4437875747680664,
            0.002057075034826994
        ],
        "angular_velocity": [
            0.15270328521728516,
            0.018916891887784004,
            -1.3676949739456177
        ],
        "forward_vector": [
            -0.0066643813624978065,
            0.9999765157699585,
            0.0015997878508642316
        ],
        "right_vector": [
            -0.9999777674674988,
            -0.0066643450409173965,
            -2.7841946575790644e-05
        ],
        "location": [
            2185.00048828125,
            2512.119873046875,
            365.12298583984375
        ],
        "rotation": [
            0.0015952279791235924,
            0.09166113287210464,
            90.38184356689453
        ],
        "velocity": [
            -0.002833512844517827,
            0.4449697732925415,
            0.0019249629694968462
        ],
        "speed": 0.44497879493191117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.334449768066406,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.04150390625,
                2527.3291015625,
                364.8642883300781
            ],
            "velocity": [
                3.22619891166687,
                -0.006877074483782053,
                0.055363044142723083
            ],
            "speed_kmh": 11.616052438273558,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.34015706181526184,
                "transform": {
                    "location": {
                        "x": 2236.931884765625,
                        "y": 2524.330322265625,
                        "z": 366.5462341308594
                    },
                    "rotation": {
                        "roll": -0.0011596680851653218,
                        "pitch": -1.7424290180206299,
                        "yaw": 179.87838745117188
                    }
                },
                "velocity": {
                    "x": -0.32727670669555664,
                    "y": -0.004279211163520813,
                    "z": 0.09262000769376755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.816139221191406,
                "transform": {
                    "location": {
                        "x": 2187.8427734375,
                        "y": 2569.699951171875,
                        "z": 365.12225341796875
                    },
                    "rotation": {
                        "roll": 0.010277711786329746,
                        "pitch": 0.47824981808662415,
                        "yaw": -89.55426025390625
                    }
                },
                "velocity": {
                    "x": 0.049536023288965225,
                    "y": -7.815872669219971,
                    "z": 0.04136480391025543
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.553196430206299,
                "transform": {
                    "location": {
                        "x": 2185.0771484375,
                        "y": 2453.40576171875,
                        "z": 364.73565673828125
                    },
                    "rotation": {
                        "roll": 0.006041218061000109,
                        "pitch": 0.5613527297973633,
                        "yaw": 90.30608367919922
                    }
                },
                "velocity": {
                    "x": -0.027208073064684868,
                    "y": 6.552758693695068,
                    "z": 0.07067685574293137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.383798122406006,
                "transform": {
                    "location": {
                        "x": 2151.545654296875,
                        "y": 2527.359619140625,
                        "z": 364.74908447265625
                    },
                    "rotation": {
                        "roll": 0.0004800513561349362,
                        "pitch": -0.05761947110295296,
                        "yaw": -0.013031005859375
                    }
                },
                "velocity": {
                    "x": 6.383787631988525,
                    "y": -0.005263620521873236,
                    "z": -0.010570592246949673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.5818891525268555,
                "transform": {
                    "location": {
                        "x": 2217.2275390625,
                        "y": 2524.27685546875,
                        "z": 365.9637451171875
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": -1.7215832471847534,
                        "yaw": 179.9346923828125
                    }
                },
                "velocity": {
                    "x": -6.579204559326172,
                    "y": 0.009288252331316471,
                    "z": -0.18772563338279724
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9798816442489624,
                "transform": {
                    "location": {
                        "x": 2187.892333984375,
                        "y": 2553.87109375,
                        "z": 365.1486511230469
                    },
                    "rotation": {
                        "roll": 0.0005159389693289995,
                        "pitch": -0.012451434507966042,
                        "yaw": -89.82342529296875
                    }
                },
                "velocity": {
                    "x": 0.0036232932470738888,
                    "y": -1.9798732995986938,
                    "z": 0.004455032292753458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003851978690363467,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.880126953125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": -0.05224411562085152,
                        "yaw": -89.89216613769531
                    }
                },
                "velocity": {
                    "x": -6.686578126391396e-05,
                    "y": 0.0003771507181227207,
                    "z": -4.0788454498397186e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6647911071777344,
                "transform": {
                    "location": {
                        "x": 2201.657958984375,
                        "y": 2524.305908203125,
                        "z": 365.542724609375
                    },
                    "rotation": {
                        "roll": 7.106421253411099e-05,
                        "pitch": -1.4576374292373657,
                        "yaw": 179.86727905273438
                    }
                },
                "velocity": {
                    "x": -3.663658618927002,
                    "y": 0.008482423610985279,
                    "z": -0.09070689231157303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2266812324523926,
                "transform": {
                    "location": {
                        "x": 2170.04150390625,
                        "y": 2527.3291015625,
                        "z": 364.8642883300781
                    },
                    "rotation": {
                        "roll": -0.00018310558516532183,
                        "pitch": 0.9542593359947205,
                        "yaw": -0.125091552734375
                    }
                },
                "velocity": {
                    "x": 3.22619891166687,
                    "y": -0.006877074483782053,
                    "z": 0.055363044142723083
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.833062648773193,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2467.976318359375,
                        "z": 364.8476867675781
                    },
                    "rotation": {
                        "roll": 0.0014550337800756097,
                        "pitch": 0.4428694546222687,
                        "yaw": 90.11104583740234
                    }
                },
                "velocity": {
                    "x": -0.011788547970354557,
                    "y": 6.83275842666626,
                    "z": 0.06338035315275192
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002543578448239714,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.993115984078031e-05,
                    "y": 4.412498674355447e-05,
                    "z": 0.00024970711092464626
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013358384603634477,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.5174282200168818e-05,
                    "y": 8.075655387074221e-06,
                    "z": 0.0013355768751353025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01344168372452259,
                "transform": {
                    "location": {
                        "x": 2185.029541015625,
                        "y": 2481.537841796875,
                        "z": 364.9560852050781
                    },
                    "rotation": {
                        "roll": -0.001831056666560471,
                        "pitch": -0.0513288676738739,
                        "yaw": 90.23397064208984
                    }
                },
                "velocity": {
                    "x": 0.00028059876058250666,
                    "y": 0.01343478448688984,
                    "z": 0.00032663720776326954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7884387969970703,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2493.35400390625,
                        "z": 365.0382995605469
                    },
                    "rotation": {
                        "roll": -0.0005493246135301888,
                        "pitch": 0.4189501106739044,
                        "yaw": 89.96891021728516
                    }
                },
                "velocity": {
                    "x": -0.0003789783513639122,
                    "y": 1.78840970993042,
                    "z": 0.01019259449094534
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10819986462593079,
        "expert_target_speed": 0.0,
        "target_point": [
            12.402855793639134,
            8.74903069575983
        ],
        "target_point_next": [
            12.651092145963501,
            36.74799788826082
        ]
    },
    "270": {
        "acceleration": [
            0.0044431909918785095,
            -0.40961146354675293,
            0.0032421108335256577
        ],
        "angular_velocity": [
            0.10151976346969604,
            0.012547848746180534,
            1.3625046014785767
        ],
        "forward_vector": [
            -0.006956666707992554,
            0.9999733567237854,
            0.002221820643171668
        ],
        "right_vector": [
            -0.9999758005142212,
            -0.0069566392339766026,
            -2.0146602764725685e-05
        ],
        "location": [
            2185.00048828125,
            2512.220458984375,
            365.1231994628906
        ],
        "rotation": [
            0.0011543181026354432,
            0.12730105221271515,
            90.39859008789062
        ],
        "velocity": [
            -0.0026789989788085222,
            0.3621571660041809,
            0.0017561721615493298
        ],
        "speed": 0.3621670745991528,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.862701416015625,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.6142578125,
                2527.32763671875,
                364.8743591308594
            ],
            "velocity": [
                0.5889015197753906,
                -0.0038524463307112455,
                0.010312766768038273
            ],
            "speed_kmh": 2.1204158744581227,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4419313669204712,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7909240722656
                    },
                    "rotation": {
                        "roll": 0.0006820367416366935,
                        "pitch": -0.21829283237457275,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": -0.0054731545969843864,
                    "y": 5.1309019909240305e-05,
                    "z": -1.4419209957122803
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8645681142807007,
                "transform": {
                    "location": {
                        "x": 2236.623291015625,
                        "y": 2524.326904296875,
                        "z": 366.5498046875
                    },
                    "rotation": {
                        "roll": -0.006622314918786287,
                        "pitch": -1.576257348060608,
                        "yaw": -179.96102905273438
                    }
                },
                "velocity": {
                    "x": -1.8642054796218872,
                    "y": -0.006876460276544094,
                    "z": -0.03612329065799713
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.979677677154541,
                "transform": {
                    "location": {
                        "x": 2187.854736328125,
                        "y": 2567.8330078125,
                        "z": 365.1335144042969
                    },
                    "rotation": {
                        "roll": 0.004025052767246962,
                        "pitch": 0.26777756214141846,
                        "yaw": -89.63875579833984
                    }
                },
                "velocity": {
                    "x": 0.04089272767305374,
                    "y": -6.979467391967773,
                    "z": 0.03555093705654144
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7331934571266174,
                "transform": {
                    "location": {
                        "x": 2185.069091796875,
                        "y": 2454.36083984375,
                        "z": 364.7492980957031
                    },
                    "rotation": {
                        "roll": 0.0026282696053385735,
                        "pitch": 0.13813373446464539,
                        "yaw": 89.97001647949219
                    }
                },
                "velocity": {
                    "x": -0.009900914505124092,
                    "y": 0.7330815196037292,
                    "z": 0.008129014633595943
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.732848644256592,
                "transform": {
                    "location": {
                        "x": 2153.016845703125,
                        "y": 2527.35888671875,
                        "z": 364.7466735839844
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.00089475471759215,
                        "yaw": -0.0751037448644638
                    }
                },
                "velocity": {
                    "x": 5.732834339141846,
                    "y": -0.008738267235457897,
                    "z": -0.009426717646420002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.254481315612793,
                "transform": {
                    "location": {
                        "x": 2215.63037109375,
                        "y": 2524.279541015625,
                        "z": 365.9181823730469
                    },
                    "rotation": {
                        "roll": 0.0006439295830205083,
                        "pitch": -1.7226214408874512,
                        "yaw": 179.89112854003906
                    }
                },
                "velocity": {
                    "x": -6.251913547515869,
                    "y": 0.011107700876891613,
                    "z": -0.17885690927505493
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8741116523742676,
                "transform": {
                    "location": {
                        "x": 2187.892333984375,
                        "y": 2553.72998046875,
                        "z": 365.14898681640625
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.010928302071988583,
                        "yaw": -89.81060028076172
                    }
                },
                "velocity": {
                    "x": 0.0019393829861655831,
                    "y": -0.8741068243980408,
                    "z": 0.0021638870239257812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005283546051941812,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": 4.50015468231868e-05,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89213562011719
                    }
                },
                "velocity": {
                    "x": -7.129050936782733e-05,
                    "y": 0.0001506712578702718,
                    "z": -0.0005013725603930652
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8364312648773193,
                "transform": {
                    "location": {
                        "x": 2200.81640625,
                        "y": 2524.307861328125,
                        "z": 365.5218811035156
                    },
                    "rotation": {
                        "roll": 0.00024525661137886345,
                        "pitch": -1.5312532186508179,
                        "yaw": 179.86138916015625
                    }
                },
                "velocity": {
                    "x": -2.83557391166687,
                    "y": 0.006688528694212437,
                    "z": -0.06940970569849014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.589004397392273,
                "transform": {
                    "location": {
                        "x": 2170.6142578125,
                        "y": 2527.32763671875,
                        "z": 364.8743591308594
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.9197873473167419,
                        "yaw": -0.1612548828125
                    }
                },
                "velocity": {
                    "x": 0.5889015197753906,
                    "y": -0.0038524463307112455,
                    "z": 0.010312766768038273
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.19089989364147186,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2468.8046875,
                        "z": 364.8546447753906
                    },
                    "rotation": {
                        "roll": -0.008789081126451492,
                        "pitch": -0.5013427138328552,
                        "yaw": 90.31879425048828
                    }
                },
                "velocity": {
                    "x": 0.0017656823620200157,
                    "y": 0.1908864676952362,
                    "z": 0.0014179610880091786
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012923931935802102,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 8.800923751550727e-06,
                    "y": -3.045430639758706e-05,
                    "z": 0.0012920043664053082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007009542896412313,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1704489224939607e-05,
                    "y": 2.2011727196513675e-06,
                    "z": 0.0007008531247265637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2383673191070557,
                "transform": {
                    "location": {
                        "x": 2185.029541015625,
                        "y": 2481.724853515625,
                        "z": 364.9559326171875
                    },
                    "rotation": {
                        "roll": -0.0007934653549455106,
                        "pitch": 0.36661720275878906,
                        "yaw": 90.21871185302734
                    }
                },
                "velocity": {
                    "x": -0.0022142352536320686,
                    "y": 1.2383378744125366,
                    "z": 0.008257484063506126
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.03816660866141319,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2493.681884765625,
                        "z": 365.0401611328125
                    },
                    "rotation": {
                        "roll": -0.001159672043286264,
                        "pitch": 0.06221618875861168,
                        "yaw": 89.98149108886719
                    }
                },
                "velocity": {
                    "x": 5.393917490437161e-06,
                    "y": 0.03815709054470062,
                    "z": 0.0008522224379703403
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10828730463981628,
        "expert_target_speed": 0.0,
        "target_point": [
            12.30487290475472,
            8.746043489562897
        ],
        "target_point_next": [
            12.561433562031407,
            36.7449356419767
        ]
    },
    "275": {
        "acceleration": [
            0.01510133221745491,
            -0.34349679946899414,
            -0.005013274494558573
        ],
        "angular_velocity": [
            0.013777783140540123,
            -0.0011993534862995148,
            -1.3299520015716553
        ],
        "forward_vector": [
            -0.006683917250484228,
            0.9999743103981018,
            0.0025789709761738777
        ],
        "right_vector": [
            -0.9999776482582092,
            -0.006683883257210255,
            -2.178281829401385e-05
        ],
        "location": [
            2185.00048828125,
            2512.30419921875,
            365.1233825683594
        ],
        "rotation": [
            0.0012480677105486393,
            0.14776431024074554,
            90.38296508789062
        ],
        "velocity": [
            -0.0016550136497244239,
            0.3012447655200958,
            0.0015594481956213713
        ],
        "speed": 0.3012493117393603,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.79894256591797,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.87420654296875
            ],
            "velocity": [
                -0.00010957509221043438,
                0.00012689660070464015,
                0.0012642794754356146
            ],
            "speed_kmh": 0.004591252121136398,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.25555750727653503,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.75445556640625
                    },
                    "rotation": {
                        "roll": 0.0005195068661123514,
                        "pitch": -0.218142569065094,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0009753666818141937,
                    "y": 3.542856211424805e-05,
                    "z": 0.2555556297302246
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.222639560699463,
                "transform": {
                    "location": {
                        "x": 2235.992431640625,
                        "y": 2524.32373046875,
                        "z": 366.53277587890625
                    },
                    "rotation": {
                        "roll": -0.00811767578125,
                        "pitch": -1.5523107051849365,
                        "yaw": -179.9073028564453
                    }
                },
                "velocity": {
                    "x": -3.221205711364746,
                    "y": -0.016709621995687485,
                    "z": -0.09465892612934113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.35636043548584,
                "transform": {
                    "location": {
                        "x": 2187.867431640625,
                        "y": 2566.54296875,
                        "z": 365.1424560546875
                    },
                    "rotation": {
                        "roll": -3.0515784601448104e-05,
                        "pitch": -0.10230256617069244,
                        "yaw": -90.00829315185547
                    }
                },
                "velocity": {
                    "x": 0.02904735691845417,
                    "y": -2.3561668395996094,
                    "z": 0.008322362788021564
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9124584794044495,
                "transform": {
                    "location": {
                        "x": 2185.068603515625,
                        "y": 2454.44921875,
                        "z": 364.7474060058594
                    },
                    "rotation": {
                        "roll": 0.0011634930269792676,
                        "pitch": 0.4736257791519165,
                        "yaw": 89.96964263916016
                    }
                },
                "velocity": {
                    "x": -0.0035209825728088617,
                    "y": 0.9123847484588623,
                    "z": 0.011051644571125507
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.210714340209961,
                "transform": {
                    "location": {
                        "x": 2154.49365234375,
                        "y": 2527.356689453125,
                        "z": 364.7452697753906
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.06564494222402573,
                        "yaw": -0.0507507249712944
                    }
                },
                "velocity": {
                    "x": 6.2107062339782715,
                    "y": -0.008319715969264507,
                    "z": -0.0055520436726510525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.012775421142578,
                "transform": {
                    "location": {
                        "x": 2214.094970703125,
                        "y": 2524.282470703125,
                        "z": 365.87432861328125
                    },
                    "rotation": {
                        "roll": 2.351527200517012e-06,
                        "pitch": -1.7074856758117676,
                        "yaw": 179.9160919189453
                    }
                },
                "velocity": {
                    "x": -6.010283470153809,
                    "y": 0.010457081720232964,
                    "z": -0.1727709323167801
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8601479530334473,
                "transform": {
                    "location": {
                        "x": 2187.893310546875,
                        "y": 2553.3916015625,
                        "z": 365.1501159667969
                    },
                    "rotation": {
                        "roll": -0.0003356823872309178,
                        "pitch": 0.2263251394033432,
                        "yaw": -89.7867431640625
                    }
                },
                "velocity": {
                    "x": 0.005887866020202637,
                    "y": -1.8601371049880981,
                    "z": 0.0024612045381218195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": 4.50015468231868e-05,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89213562011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00046600934001617134,
                "transform": {
                    "location": {
                        "x": 2200.412109375,
                        "y": 2524.308837890625,
                        "z": 365.5115661621094
                    },
                    "rotation": {
                        "roll": 0.0028826920315623283,
                        "pitch": -1.8346569538116455,
                        "yaw": 179.7998809814453
                    }
                },
                "velocity": {
                    "x": -0.00045704899821430445,
                    "y": 6.440465222112834e-05,
                    "z": -6.42102095298469e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012753477785736322,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.87420654296875
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.9410019516944885,
                        "yaw": -0.1621703803539276
                    }
                },
                "velocity": {
                    "x": -0.00010957509221043438,
                    "y": 0.00012689660070464015,
                    "z": 0.0012642794754356146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3836883306503296,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2468.9736328125,
                        "z": 364.8564453125
                    },
                    "rotation": {
                        "roll": -0.001281740260310471,
                        "pitch": 0.3645613193511963,
                        "yaw": 90.30033111572266
                    }
                },
                "velocity": {
                    "x": -0.002979914890602231,
                    "y": 1.383628249168396,
                    "z": 0.012543125078082085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011147805344080552,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -7.790587915224023e-06,
                    "y": -5.1391743909334764e-05,
                    "z": -9.861821308732033e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035671028308570385,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0469891094544437e-05,
                    "y": 1.7031037714332342e-05,
                    "z": 0.00035614962689578533
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1745944023132324,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2482.158447265625,
                        "z": 364.9580383300781
                    },
                    "rotation": {
                        "roll": 0.003878247458487749,
                        "pitch": 0.6811747550964355,
                        "yaw": 90.10059356689453
                    }
                },
                "velocity": {
                    "x": -0.002671740250661969,
                    "y": 2.1745426654815674,
                    "z": 0.014777373522520065
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1911778450012207,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2493.865234375,
                        "z": 365.04144287109375
                    },
                    "rotation": {
                        "roll": -0.0022888255771249533,
                        "pitch": 0.40969520807266235,
                        "yaw": 90.04362487792969
                    }
                },
                "velocity": {
                    "x": -0.0013868826208636165,
                    "y": 1.191159963607788,
                    "z": 0.006386909168213606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10755016654729843,
        "expert_target_speed": 0.0,
        "target_point": [
            12.218690184922458,
            8.750041364558335
        ],
        "target_point_next": [
            12.467427197755187,
            36.74900411377119
        ]
    },
    "280": {
        "acceleration": [
            -0.02181313931941986,
            0.22558987140655518,
            0.0016841897740960121
        ],
        "angular_velocity": [
            0.17604292929172516,
            0.018550805747509003,
            0.8486316204071045
        ],
        "forward_vector": [
            -0.006805384531617165,
            0.9999728798866272,
            0.002808566903695464
        ],
        "right_vector": [
            -0.9999768137931824,
            -0.0068053905852139,
            -7.313326477742521e-06
        ],
        "location": [
            2185.00048828125,
            2512.375,
            365.12359619140625
        ],
        "rotation": [
            0.00041902437806129456,
            0.16091924905776978,
            90.38992309570312
        ],
        "velocity": [
            -0.003111689118668437,
            0.28092607855796814,
            0.0019118499476462603
        ],
        "speed": 0.2809433114048614,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.74786376953125,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06159673258662224,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7940979003906
                    },
                    "rotation": {
                        "roll": 0.0008733986760489643,
                        "pitch": -0.21768495440483093,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.00024251527793239802,
                    "y": 7.685379387112334e-05,
                    "z": 0.061596207320690155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.759361743927002,
                "transform": {
                    "location": {
                        "x": 2234.98095703125,
                        "y": 2524.317626953125,
                        "z": 366.50213623046875
                    },
                    "rotation": {
                        "roll": -0.01538086123764515,
                        "pitch": -1.5257822275161743,
                        "yaw": -179.75390625
                    }
                },
                "velocity": {
                    "x": -4.75704288482666,
                    "y": -0.03025147132575512,
                    "z": -0.14543865621089935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7167418599128723,
                "transform": {
                    "location": {
                        "x": 2187.869384765625,
                        "y": 2566.40380859375,
                        "z": 365.14202880859375
                    },
                    "rotation": {
                        "roll": 0.004585459362715483,
                        "pitch": 0.01585286855697632,
                        "yaw": -90.0514144897461
                    }
                },
                "velocity": {
                    "x": 0.0028791495133191347,
                    "y": -0.716730535030365,
                    "z": 0.0028237532824277878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6717501878738403,
                "transform": {
                    "location": {
                        "x": 2185.06787109375,
                        "y": 2454.7734375,
                        "z": 364.7494812011719
                    },
                    "rotation": {
                        "roll": 0.00020014282199554145,
                        "pitch": 0.6517571210861206,
                        "yaw": 89.99081420898438
                    }
                },
                "velocity": {
                    "x": -0.005412674974650145,
                    "y": 1.6716458797454834,
                    "z": 0.017868662253022194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.4661335945129395,
                "transform": {
                    "location": {
                        "x": 2156.15625,
                        "y": 2527.35498046875,
                        "z": 364.7453918457031
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.14697200059890747,
                        "yaw": -0.1371764987707138
                    }
                },
                "velocity": {
                    "x": 7.46610689163208,
                    "y": -0.012582958675920963,
                    "z": 0.015542764216661453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0631824731826782,
                "transform": {
                    "location": {
                        "x": 2213.0947265625,
                        "y": 2524.283447265625,
                        "z": 365.84564208984375
                    },
                    "rotation": {
                        "roll": 0.010716876946389675,
                        "pitch": -2.4320662021636963,
                        "yaw": 179.67674255371094
                    }
                },
                "velocity": {
                    "x": -1.0627820491790771,
                    "y": -0.002887127222493291,
                    "z": -0.029036210849881172
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9302492141723633,
                "transform": {
                    "location": {
                        "x": 2187.895263671875,
                        "y": 2552.8095703125,
                        "z": 365.1514892578125
                    },
                    "rotation": {
                        "roll": 0.000588084221817553,
                        "pitch": 0.2922842800617218,
                        "yaw": -89.7954330444336
                    }
                },
                "velocity": {
                    "x": 0.007773806340992451,
                    "y": -2.9302315711975098,
                    "z": 0.0065255737863481045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": 4.50015468231868e-05,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89213562011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016067405231297016,
                "transform": {
                    "location": {
                        "x": 2200.409912109375,
                        "y": 2524.308837890625,
                        "z": 365.5118408203125
                    },
                    "rotation": {
                        "roll": 0.003407045966014266,
                        "pitch": -1.5531917810440063,
                        "yaw": 179.79978942871094
                    }
                },
                "velocity": {
                    "x": 0.001605960656888783,
                    "y": 1.423421963409055e-05,
                    "z": 4.799017187906429e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.5753185749053955,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2469.50732421875,
                        "z": 364.8613586425781
                    },
                    "rotation": {
                        "roll": 0.003214798402041197,
                        "pitch": 0.6914746761322021,
                        "yaw": 90.23859405517578
                    }
                },
                "velocity": {
                    "x": -0.006072540767490864,
                    "y": 2.5752172470092773,
                    "z": 0.02201657183468342
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003665416734293103,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.667656033532694e-05,
                    "y": 5.3752396524942014e-06,
                    "z": 0.0003661226655822247
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008370680152438581,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.581067383289337e-05,
                    "y": -4.748094113438128e-07,
                    "z": 0.00083666987484321
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7949783802032471,
                "transform": {
                    "location": {
                        "x": 2185.02880859375,
                        "y": 2482.666015625,
                        "z": 364.96282958984375
                    },
                    "rotation": {
                        "roll": 0.007569858338683844,
                        "pitch": 0.33401671051979065,
                        "yaw": 89.9434814453125
                    }
                },
                "velocity": {
                    "x": -0.0011612378293648362,
                    "y": 0.7949597835540771,
                    "z": 0.005312938708811998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1788523197174072,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2494.324951171875,
                        "z": 365.0442199707031
                    },
                    "rotation": {
                        "roll": 0.000260999018792063,
                        "pitch": 0.5281170010566711,
                        "yaw": 90.05810546875
                    }
                },
                "velocity": {
                    "x": -0.002313470235094428,
                    "y": 2.1788060665130615,
                    "z": 0.014007272198796272
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10833827406167984,
        "expert_target_speed": 0.0,
        "target_point": [
            12.148896495593714,
            8.749118690018358
        ],
        "target_point_next": [
            12.40085108472196,
            36.748052670053724
        ]
    },
    "285": {
        "acceleration": [
            -0.029031885787844658,
            0.8745306730270386,
            -0.004532621242105961
        ],
        "angular_velocity": [
            0.43264031410217285,
            0.026122648268938065,
            0.6257728338241577
        ],
        "forward_vector": [
            -0.007140694186091423,
            0.9999682307243347,
            0.0035432500299066305
        ],
        "right_vector": [
            -0.9999744892120361,
            -0.007140645291656256,
            -2.646341272338759e-05
        ],
        "location": [
            2185.00048828125,
            2512.4501953125,
            365.1236877441406
        ],
        "rotation": [
            0.0015162513591349125,
            0.20301370322704315,
            90.40914154052734
        ],
        "velocity": [
            -0.0026966570876538754,
            0.3961958587169647,
            0.0014460182283073664
        ],
        "speed": 0.3962050358386696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.693737030029297,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2976150512695312,
                "transform": {
                    "location": {
                        "x": 2136.154052734375,
                        "y": 2527.3037109375,
                        "z": 364.79742431640625
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": -0.18380720913410187,
                        "yaw": -0.0492858812212944
                    }
                },
                "velocity": {
                    "x": 1.2975070476531982,
                    "y": 0.015154321677982807,
                    "z": -0.007121953647583723
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.684781551361084,
                "transform": {
                    "location": {
                        "x": 2233.646240234375,
                        "y": 2524.30859375,
                        "z": 366.4615478515625
                    },
                    "rotation": {
                        "roll": -0.017059326171875,
                        "pitch": -1.5917891263961792,
                        "yaw": -179.6634521484375
                    }
                },
                "velocity": {
                    "x": -5.681984901428223,
                    "y": -0.04031046852469444,
                    "z": -0.17367321252822876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.66608726978302,
                "transform": {
                    "location": {
                        "x": 2187.870361328125,
                        "y": 2566.0908203125,
                        "z": 365.14105224609375
                    },
                    "rotation": {
                        "roll": -0.001129157142713666,
                        "pitch": 0.29452458024024963,
                        "yaw": -89.97698974609375
                    }
                },
                "velocity": {
                    "x": 0.0070023927837610245,
                    "y": -1.666059970855713,
                    "z": 0.006461286451667547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1483821868896484,
                "transform": {
                    "location": {
                        "x": 2185.066162109375,
                        "y": 2455.29345703125,
                        "z": 364.7549133300781
                    },
                    "rotation": {
                        "roll": 0.0013554035685956478,
                        "pitch": 0.6649325489997864,
                        "yaw": 90.02669525146484
                    }
                },
                "velocity": {
                    "x": -0.006405087653547525,
                    "y": 2.148266553878784,
                    "z": 0.021340636536478996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.801584243774414,
                "transform": {
                    "location": {
                        "x": 2157.96630859375,
                        "y": 2527.351806640625,
                        "z": 364.7491760253906
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": 0.2176303118467331,
                        "yaw": -0.12420654296875
                    }
                },
                "velocity": {
                    "x": 6.80151891708374,
                    "y": -0.012298228219151497,
                    "z": 0.027233906090259552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.209293246269226,
                "transform": {
                    "location": {
                        "x": 2212.9658203125,
                        "y": 2524.28369140625,
                        "z": 365.8424377441406
                    },
                    "rotation": {
                        "roll": 0.010836317203938961,
                        "pitch": -1.8447861671447754,
                        "yaw": 179.6918182373047
                    }
                },
                "velocity": {
                    "x": -1.2088645696640015,
                    "y": 0.004298832267522812,
                    "z": -0.03190648555755615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.511258125305176,
                "transform": {
                    "location": {
                        "x": 2187.897216796875,
                        "y": 2551.86328125,
                        "z": 365.1534729003906
                    },
                    "rotation": {
                        "roll": 0.0011421034578233957,
                        "pitch": 0.34881773591041565,
                        "yaw": -89.82808685302734
                    }
                },
                "velocity": {
                    "x": 0.01112483162432909,
                    "y": -4.511239051818848,
                    "z": 0.007031907793134451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": 4.50015468231868e-05,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89213562011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00031582661904394627,
                "transform": {
                    "location": {
                        "x": 2200.408935546875,
                        "y": 2524.308837890625,
                        "z": 365.5119323730469
                    },
                    "rotation": {
                        "roll": 0.0004228243778925389,
                        "pitch": -1.45315682888031,
                        "yaw": 179.79971313476562
                    }
                },
                "velocity": {
                    "x": 0.00030210227123461664,
                    "y": 9.208416304318234e-05,
                    "z": -1.0872958000618382e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001477295532822609,
                "transform": {
                    "location": {
                        "x": 2185.04150390625,
                        "y": 2469.86669921875,
                        "z": 364.86431884765625
                    },
                    "rotation": {
                        "roll": -0.0016784686595201492,
                        "pitch": 0.11073102056980133,
                        "yaw": 90.39495849609375
                    }
                },
                "velocity": {
                    "x": 0.00038023776141926646,
                    "y": 0.0012173622380942106,
                    "z": 0.0007455538725480437
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023487895668949932,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 8.939989129430614e-06,
                    "y": 1.995998900383711e-05,
                    "z": 0.0002338585036341101
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002965338353533298,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 3.7470085771929007e-06,
                    "y": 2.8652399123529904e-05,
                    "z": 0.00029512253240682185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0259134769439697,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2482.801513671875,
                        "z": 364.9641418457031
                    },
                    "rotation": {
                        "roll": 0.002388149732723832,
                        "pitch": 0.2624090313911438,
                        "yaw": 89.90504455566406
                    }
                },
                "velocity": {
                    "x": -1.3228662282926962e-05,
                    "y": 1.025890588760376,
                    "z": 0.006853361148387194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6890976428985596,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2494.5927734375,
                        "z": 365.04583740234375
                    },
                    "rotation": {
                        "roll": -0.00015259247447829694,
                        "pitch": 0.13973882794380188,
                        "yaw": 90.04551696777344
                    }
                },
                "velocity": {
                    "x": -0.00019648140005301684,
                    "y": 0.6890894770622253,
                    "z": 0.003353061620146036
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10497498512268066,
        "expert_target_speed": 0.0,
        "target_point": [
            12.076693647173945,
            8.745501688964271
        ],
        "target_point_next": [
            12.338220839714308,
            36.744347891279894
        ]
    },
    "290": {
        "acceleration": [
            -0.009282296523451805,
            1.4168846607208252,
            -0.014239312149584293
        ],
        "angular_velocity": [
            0.11840253323316574,
            0.02204749546945095,
            -0.15818056464195251
        ],
        "forward_vector": [
            -0.006663829553872347,
            0.999965250492096,
            0.004999377764761448
        ],
        "right_vector": [
            -0.9999777674674988,
            -0.006663874257355928,
            -7.713912054896355e-06
        ],
        "location": [
            2184.99951171875,
            2512.594970703125,
            365.1239013671875
        ],
        "rotation": [
            0.00044198011164553463,
            0.28644445538520813,
            90.38182067871094
        ],
        "velocity": [
            -0.00520144309848547,
            0.717469334602356,
            0.0013947200495749712
        ],
        "speed": 0.7174881888261675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.58922004699707,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8704735040664673,
                "transform": {
                    "location": {
                        "x": 2136.552978515625,
                        "y": 2527.306640625,
                        "z": 364.7953186035156
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.19335581362247467,
                        "yaw": 0.13941356539726257
                    }
                },
                "velocity": {
                    "x": 1.8703144788742065,
                    "y": 0.022430995479226112,
                    "z": -0.009580030106008053
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7311482429504395,
                "transform": {
                    "location": {
                        "x": 2232.159423828125,
                        "y": 2524.29736328125,
                        "z": 366.41595458984375
                    },
                    "rotation": {
                        "roll": -0.0176391564309597,
                        "pitch": -1.6000604629516602,
                        "yaw": -179.59197998046875
                    }
                },
                "velocity": {
                    "x": -6.727812767028809,
                    "y": -0.051261357963085175,
                    "z": -0.20558160543441772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.344913959503174,
                "transform": {
                    "location": {
                        "x": 2187.8720703125,
                        "y": 2565.5712890625,
                        "z": 365.1430358886719
                    },
                    "rotation": {
                        "roll": 0.0008058019448071718,
                        "pitch": 0.32596394419670105,
                        "yaw": -89.95391082763672
                    }
                },
                "velocity": {
                    "x": 0.006536088418215513,
                    "y": -2.3448853492736816,
                    "z": 0.009556874632835388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6710679531097412,
                "transform": {
                    "location": {
                        "x": 2185.06591796875,
                        "y": 2455.45458984375,
                        "z": 364.7578430175781
                    },
                    "rotation": {
                        "roll": 0.0012649170821532607,
                        "pitch": 0.5171682238578796,
                        "yaw": 90.0505142211914
                    }
                },
                "velocity": {
                    "x": -0.002153415000066161,
                    "y": 0.6710299253463745,
                    "z": 0.006807698868215084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.589904308319092,
                "transform": {
                    "location": {
                        "x": 2159.513427734375,
                        "y": 2527.348876953125,
                        "z": 364.7541198730469
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.42265209555625916,
                        "yaw": -0.11956784129142761
                    }
                },
                "velocity": {
                    "x": 5.589813232421875,
                    "y": -0.011685739271342754,
                    "z": 0.0296903308480978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2424583435058594,
                "transform": {
                    "location": {
                        "x": 2212.50146484375,
                        "y": 2524.28515625,
                        "z": 365.8298034667969
                    },
                    "rotation": {
                        "roll": 0.0033740538638085127,
                        "pitch": -1.4649934768676758,
                        "yaw": 179.74351501464844
                    }
                },
                "velocity": {
                    "x": -2.241584539413452,
                    "y": 0.006350550334900618,
                    "z": -0.0622757151722908
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7612314224243164,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2550.73486328125,
                        "z": 365.1551208496094
                    },
                    "rotation": {
                        "roll": 0.000556538812816143,
                        "pitch": -0.03930773586034775,
                        "yaw": -89.85628509521484
                    }
                },
                "velocity": {
                    "x": 0.006411539390683174,
                    "y": -2.761220693588257,
                    "z": 0.004282474517822266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": 4.50015468231868e-05,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89213562011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00043513040873222053,
                "transform": {
                    "location": {
                        "x": 2200.408935546875,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0016833280678838491,
                        "pitch": -1.4381098747253418,
                        "yaw": 179.79965209960938
                    }
                },
                "velocity": {
                    "x": 7.724106399109587e-05,
                    "y": 0.00011869244917761534,
                    "z": -0.0004114418406970799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.364898681640625,
                "transform": {
                    "location": {
                        "x": 2185.041015625,
                        "y": 2470.06689453125,
                        "z": 364.86627197265625
                    },
                    "rotation": {
                        "roll": 0.004215962719172239,
                        "pitch": 0.5791590213775635,
                        "yaw": 90.40955352783203
                    }
                },
                "velocity": {
                    "x": -0.00511383218690753,
                    "y": 1.3648322820663452,
                    "z": 0.012452363967895508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9347040506545454e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 6.924308763700537e-06,
                    "y": 9.441126849196735e-07,
                    "z": 1.8040802387986332e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014478734228760004,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.8853210349334404e-05,
                    "y": -7.139103217923548e-06,
                    "z": 0.001447733142413199
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8742291927337646,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2483.17138671875,
                        "z": 364.9654235839844
                    },
                    "rotation": {
                        "roll": -0.0032653349917382,
                        "pitch": 0.6091982126235962,
                        "yaw": 89.89555358886719
                    }
                },
                "velocity": {
                    "x": -0.0014132822398096323,
                    "y": 1.8741787672042847,
                    "z": 0.013669680804014206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1521382331848145,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2494.91552734375,
                        "z": 365.0478515625
                    },
                    "rotation": {
                        "roll": -0.002105678664520383,
                        "pitch": 0.4309302568435669,
                        "yaw": 90.179443359375
                    }
                },
                "velocity": {
                    "x": -0.0010269272606819868,
                    "y": 1.1521186828613281,
                    "z": 0.0066361138597130775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10895911604166031,
        "expert_target_speed": 0.0,
        "target_point": [
            11.927682902800996,
            8.751330344664478
        ],
        "target_point_next": [
            12.175665587104152,
            36.75029978501438
        ]
    },
    "295": {
        "acceleration": [
            -0.027471240609884262,
            2.404143810272217,
            0.02155151404440403
        ],
        "angular_velocity": [
            0.34862232208251953,
            0.02094360627233982,
            0.25046026706695557
        ],
        "forward_vector": [
            -0.006791676860302687,
            0.9999555945396423,
            0.006532979663461447
        ],
        "right_vector": [
            -0.9999769330024719,
            -0.0067917900159955025,
            -4.879664174950449e-06
        ],
        "location": [
            2184.99755859375,
            2512.837646484375,
            365.1243591308594
        ],
        "rotation": [
            0.0002795901382341981,
            0.3743148446083069,
            90.38914489746094
        ],
        "velocity": [
            -0.009637330658733845,
            1.263960838317871,
            0.002750406274572015
        ],
        "speed": 1.2639975786936624,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.414905548095703,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.426821231842041,
                "transform": {
                    "location": {
                        "x": 2137.091796875,
                        "y": 2527.31201171875,
                        "z": 364.7930908203125
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.19915464520454407,
                        "yaw": 0.28778406977653503
                    }
                },
                "velocity": {
                    "x": 2.4266040325164795,
                    "y": 0.031072184443473816,
                    "z": -0.009393596090376377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.322293281555176,
                "transform": {
                    "location": {
                        "x": 2230.216796875,
                        "y": 2524.28564453125,
                        "z": 366.3562927246094
                    },
                    "rotation": {
                        "roll": -0.005401609465479851,
                        "pitch": -1.5501044988632202,
                        "yaw": -179.68502807617188
                    }
                },
                "velocity": {
                    "x": -8.318208694458008,
                    "y": -0.036597173660993576,
                    "z": -0.25812849402427673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001217132667079568,
                "transform": {
                    "location": {
                        "x": 2187.87158203125,
                        "y": 2565.265380859375,
                        "z": 365.1466979980469
                    },
                    "rotation": {
                        "roll": 0.0022919131442904472,
                        "pitch": 0.058425433933734894,
                        "yaw": -89.81396484375
                    }
                },
                "velocity": {
                    "x": 5.627623977488838e-05,
                    "y": 3.3536496630404145e-05,
                    "z": 0.0012153683928772807
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.479356288909912,
                "transform": {
                    "location": {
                        "x": 2185.065673828125,
                        "y": 2455.73779296875,
                        "z": 364.7596435546875
                    },
                    "rotation": {
                        "roll": 0.0003251760790590197,
                        "pitch": 0.6624736785888672,
                        "yaw": 90.0876235961914
                    }
                },
                "velocity": {
                    "x": -0.0041879392229020596,
                    "y": 1.4792790412902832,
                    "z": 0.014526871964335442
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.15924812853336334,
                "transform": {
                    "location": {
                        "x": 2160.248046875,
                        "y": 2527.348388671875,
                        "z": 364.7554626464844
                    },
                    "rotation": {
                        "roll": 0.002401089295744896,
                        "pitch": 0.7414442896842957,
                        "yaw": 0.13046738505363464
                    }
                },
                "velocity": {
                    "x": 0.1592288315296173,
                    "y": 6.490170926554129e-05,
                    "z": 0.002478094073012471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3996894359588623,
                "transform": {
                    "location": {
                        "x": 2212.2783203125,
                        "y": 2524.28564453125,
                        "z": 365.8235168457031
                    },
                    "rotation": {
                        "roll": 0.01096345391124487,
                        "pitch": -1.868220567703247,
                        "yaw": 179.61473083496094
                    }
                },
                "velocity": {
                    "x": -0.3995324373245239,
                    "y": -0.0014468851732090116,
                    "z": -0.01110762543976307
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8737066984176636,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2550.555419921875,
                        "z": 365.15521240234375
                    },
                    "rotation": {
                        "roll": -0.000915529381018132,
                        "pitch": -0.1679406762123108,
                        "yaw": -89.89128112792969
                    }
                },
                "velocity": {
                    "x": 0.0008640973828732967,
                    "y": -0.8737027049064636,
                    "z": 0.002505121286958456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": 4.50015468231868e-05,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89213562011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006924209883436561,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0017682780744507909,
                        "pitch": -1.4301117658615112,
                        "yaw": 179.79959106445312
                    }
                },
                "velocity": {
                    "x": -2.36360720009543e-05,
                    "y": 6.031338853063062e-05,
                    "z": -0.0006893841200508177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4366025924682617,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2470.58349609375,
                        "z": 364.8708801269531
                    },
                    "rotation": {
                        "roll": 0.005578544456511736,
                        "pitch": 0.6984209418296814,
                        "yaw": 90.37220764160156
                    }
                },
                "velocity": {
                    "x": -0.006991920527070761,
                    "y": 2.436495065689087,
                    "z": 0.021801499649882317
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003916795249097049,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 5.569830591412028e-06,
                    "y": 3.6400335375219584e-05,
                    "z": 0.00038994464557617903
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00029032054590061307,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0195895811193623e-05,
                    "y": 2.0022465832880698e-05,
                    "z": 0.0002894497592933476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9968547821044922,
                "transform": {
                    "location": {
                        "x": 2185.028564453125,
                        "y": 2483.707763671875,
                        "z": 364.9693603515625
                    },
                    "rotation": {
                        "roll": -0.0025329880882054567,
                        "pitch": 0.5922661423683167,
                        "yaw": 89.94499206542969
                    }
                },
                "velocity": {
                    "x": -0.0023457359056919813,
                    "y": 1.9968018531799316,
                    "z": 0.014354267157614231
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.645132303237915,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2495.173583984375,
                        "z": 365.0494384765625
                    },
                    "rotation": {
                        "roll": 0.00028482230845838785,
                        "pitch": 0.44994550943374634,
                        "yaw": 90.20873260498047
                    }
                },
                "velocity": {
                    "x": -0.0029762317426502705,
                    "y": 1.6451003551483154,
                    "z": 0.00982356071472168
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10899922251701355,
        "expert_target_speed": 0.0,
        "target_point": [
            11.686163603497402,
            8.74943869428841
        ],
        "target_point_next": [
            11.93787120037178,
            36.7483748958486
        ]
    },
    "300": {
        "acceleration": [
            -0.16960874199867249,
            3.841977119445801,
            0.01501159742474556
        ],
        "angular_velocity": [
            0.5331069231033325,
            0.1529243439435959,
            0.9639923572540283
        ],
        "forward_vector": [
            -0.008829159662127495,
            0.9999334216117859,
            0.007428696379065514
        ],
        "right_vector": [
            -0.9999609589576721,
            -0.008831590414047241,
            0.00029453751631081104
        ],
        "location": [
            2184.99267578125,
            2513.220458984375,
            365.1252746582031
        ],
        "rotation": [
            -0.01687622256577015,
            0.425636887550354,
            90.50589752197266
        ],
        "velocity": [
            -0.03611624613404274,
            1.8801424503326416,
            0.00614648824557662
        ],
        "speed": 1.8804893024895526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.14152717590332,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.982917547225952,
                "transform": {
                    "location": {
                        "x": 2137.77001953125,
                        "y": 2527.3193359375,
                        "z": 364.7904357910156
                    },
                    "rotation": {
                        "roll": -0.003143310546875,
                        "pitch": -0.19888143241405487,
                        "yaw": 0.43892207741737366
                    }
                },
                "velocity": {
                    "x": 2.982640266418457,
                    "y": 0.03931589797139168,
                    "z": -0.010405187495052814
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.617578506469727,
                "transform": {
                    "location": {
                        "x": 2228.19970703125,
                        "y": 2524.278564453125,
                        "z": 366.2934265136719
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -1.8338919878005981,
                        "yaw": -179.81541442871094
                    }
                },
                "velocity": {
                    "x": -7.613870620727539,
                    "y": -0.022732099518179893,
                    "z": -0.23656097054481506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0966964960098267,
                "transform": {
                    "location": {
                        "x": 2187.87158203125,
                        "y": 2565.09423828125,
                        "z": 365.1457824707031
                    },
                    "rotation": {
                        "roll": 0.002353331306949258,
                        "pitch": 0.26126155257225037,
                        "yaw": -89.80400848388672
                    }
                },
                "velocity": {
                    "x": 0.003337026573717594,
                    "y": -1.0966825485229492,
                    "z": 0.004418382421135902
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3604185581207275,
                "transform": {
                    "location": {
                        "x": 2185.06396484375,
                        "y": 2456.219970703125,
                        "z": 364.7643737792969
                    },
                    "rotation": {
                        "roll": 0.0009816722013056278,
                        "pitch": 0.6969934701919556,
                        "yaw": 90.1048812866211
                    }
                },
                "velocity": {
                    "x": -0.007316327653825283,
                    "y": 2.3602795600891113,
                    "z": 0.024556970223784447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0399357080459595,
                "transform": {
                    "location": {
                        "x": 2160.368896484375,
                        "y": 2527.34765625,
                        "z": 364.7593994140625
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.3425271511077881,
                        "yaw": 0.14631778001785278
                    }
                },
                "velocity": {
                    "x": 1.0399198532104492,
                    "y": -0.0012477249838411808,
                    "z": 0.005599260330200195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.676315426826477,
                "transform": {
                    "location": {
                        "x": 2212.003662109375,
                        "y": 2524.286376953125,
                        "z": 365.8160400390625
                    },
                    "rotation": {
                        "roll": 0.0067990426905453205,
                        "pitch": -1.4529109001159668,
                        "yaw": 179.60777282714844
                    }
                },
                "velocity": {
                    "x": -1.6756564378738403,
                    "y": 0.005503890570253134,
                    "z": -0.04667693376541138
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.12184739112854,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.171142578125,
                        "z": 365.1564636230469
                    },
                    "rotation": {
                        "roll": 0.00038853567093610764,
                        "pitch": 0.1833495944738388,
                        "yaw": -89.89501190185547
                    }
                },
                "velocity": {
                    "x": 0.004219887312501669,
                    "y": -2.121839761734009,
                    "z": 0.003929300233721733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1656188964844
                    },
                    "rotation": {
                        "roll": 4.50015468231868e-05,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89213562011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00026707723736763,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0017682780744507909,
                        "pitch": -1.4301117658615112,
                        "yaw": 179.79959106445312
                    }
                },
                "velocity": {
                    "x": -5.9604495618259534e-05,
                    "y": 6.975214637350291e-05,
                    "z": 0.0002508230390958488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.44316917657852173,
                "transform": {
                    "location": {
                        "x": 2185.03857421875,
                        "y": 2470.877197265625,
                        "z": 364.87335205078125
                    },
                    "rotation": {
                        "roll": -0.0018310615560039878,
                        "pitch": 0.19554147124290466,
                        "yaw": 90.56035614013672
                    }
                },
                "velocity": {
                    "x": -0.0032346935477107763,
                    "y": 0.44314485788345337,
                    "z": 0.0033317755442112684
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.625270857010037e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.396150744578335e-06,
                    "y": -4.508223980792536e-07,
                    "z": 8.5738196503371e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016863137716427445,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.9417442672420293e-05,
                    "y": -3.682220722112106e-06,
                    "z": 0.00016746923211030662
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9632712602615356,
                "transform": {
                    "location": {
                        "x": 2185.029296875,
                        "y": 2483.86669921875,
                        "z": 364.97198486328125
                    },
                    "rotation": {
                        "roll": 0.00018953873950522393,
                        "pitch": 0.18684664368629456,
                        "yaw": 90.05634307861328
                    }
                },
                "velocity": {
                    "x": -0.001397305983118713,
                    "y": 0.9632487297058105,
                    "z": 0.006437911652028561
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2982509136199951,
                "transform": {
                    "location": {
                        "x": 2185.015869140625,
                        "y": 2495.462646484375,
                        "z": 365.05120849609375
                    },
                    "rotation": {
                        "roll": 0.0011735748266801238,
                        "pitch": 0.3590220510959625,
                        "yaw": 90.1141128540039
                    }
                },
                "velocity": {
                    "x": -0.002402632962912321,
                    "y": 1.298232078552246,
                    "z": 0.0065588378347456455
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.13097918033599854,
        "expert_target_speed": 0.0,
        "target_point": [
            11.321065524315058,
            8.724185509629367
        ],
        "target_point_next": [
            11.629627512082973,
            36.72255286619262
        ]
    },
    "305": {
        "acceleration": [
            -0.45698270201683044,
            2.337031364440918,
            0.022344589233398438
        ],
        "angular_velocity": [
            0.025045285001397133,
            0.28544893860816956,
            3.7338593006134033
        ],
        "forward_vector": [
            -0.01825907826423645,
            0.9997966289520264,
            0.008560910820960999
        ],
        "right_vector": [
            -0.9998323321342468,
            -0.018270272761583328,
            0.0012313997140154243
        ],
        "location": [
            2184.975341796875,
            2513.78515625,
            365.12689208984375
        ],
        "rotation": [
            -0.07055661827325821,
            0.4905100166797638,
            91.0462646484375
        ],
        "velocity": [
            -0.12002144753932953,
            2.5914840698242188,
            0.007515487726777792
        ],
        "speed": 2.5942619050554883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.737533569335938,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6657984256744385,
                "transform": {
                    "location": {
                        "x": 2138.600830078125,
                        "y": 2527.32568359375,
                        "z": 364.7873229980469
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.19626547396183014,
                        "yaw": 0.4267161190509796
                    }
                },
                "velocity": {
                    "x": 3.66570782661438,
                    "y": 0.02200869284570217,
                    "z": -0.013381690718233585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.910472869873047,
                "transform": {
                    "location": {
                        "x": 2226.466552734375,
                        "y": 2524.27392578125,
                        "z": 366.2392883300781
                    },
                    "rotation": {
                        "roll": -0.006683348678052425,
                        "pitch": -1.9815880060195923,
                        "yaw": -179.8553924560547
                    }
                },
                "velocity": {
                    "x": -5.907576084136963,
                    "y": -0.01480582170188427,
                    "z": -0.18443523347377777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8570510149002075,
                "transform": {
                    "location": {
                        "x": 2187.872802734375,
                        "y": 2564.72412109375,
                        "z": 365.14697265625
                    },
                    "rotation": {
                        "roll": 0.0007994373445399106,
                        "pitch": 0.3107326030731201,
                        "yaw": -89.79142761230469
                    }
                },
                "velocity": {
                    "x": 0.005648237187415361,
                    "y": -1.857027292251587,
                    "z": 0.007487602066248655
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.007484464906156063,
                "transform": {
                    "location": {
                        "x": 2185.062744140625,
                        "y": 2456.6630859375,
                        "z": 364.7711486816406
                    },
                    "rotation": {
                        "roll": 0.001231100526638329,
                        "pitch": 0.45631808042526245,
                        "yaw": 90.11646270751953
                    }
                },
                "velocity": {
                    "x": 9.106159268412739e-05,
                    "y": 0.007478723302483559,
                    "z": 0.0002786043332889676
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001282431185245514,
                "transform": {
                    "location": {
                        "x": 2160.400146484375,
                        "y": 2527.34814453125,
                        "z": 364.7596130371094
                    },
                    "rotation": {
                        "roll": 0.0026661199517548084,
                        "pitch": 0.34206268191337585,
                        "yaw": 0.087274931371212
                    }
                },
                "velocity": {
                    "x": -0.0004382366896606982,
                    "y": 7.665600423933938e-05,
                    "z": 0.001202789368107915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.48539137840271,
                "transform": {
                    "location": {
                        "x": 2211.4296875,
                        "y": 2524.288330078125,
                        "z": 365.8001403808594
                    },
                    "rotation": {
                        "roll": 0.00309416139498353,
                        "pitch": -1.393276572227478,
                        "yaw": 179.68359375
                    }
                },
                "velocity": {
                    "x": -2.4844164848327637,
                    "y": 0.00745369540527463,
                    "z": -0.0692031979560852
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8952378630638123,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2549.670654296875,
                        "z": 365.1571044921875
                    },
                    "rotation": {
                        "roll": 0.002148546976968646,
                        "pitch": -0.002588641596958041,
                        "yaw": -90.06688690185547
                    }
                },
                "velocity": {
                    "x": 0.0005109034827910364,
                    "y": -0.8952359557151794,
                    "z": 0.001796293188817799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002261550398543477,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.8798828125,
                        "z": 365.1653747558594
                    },
                    "rotation": {
                        "roll": -9.155222505796701e-05,
                        "pitch": -0.02559954673051834,
                        "yaw": -89.89216613769531
                    }
                },
                "velocity": {
                    "x": 9.11463939701207e-05,
                    "y": 4.5740558562101796e-05,
                    "z": -0.002259249798953533
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004708037886302918,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0017682780744507909,
                        "pitch": -1.4301117658615112,
                        "yaw": 179.79959106445312
                    }
                },
                "velocity": {
                    "x": -3.672227103379555e-05,
                    "y": -2.8201469831401482e-05,
                    "z": 0.00046852146624587476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8613237142562866,
                "transform": {
                    "location": {
                        "x": 2185.037109375,
                        "y": 2471.172607421875,
                        "z": 364.8760986328125
                    },
                    "rotation": {
                        "roll": 0.0072930860333144665,
                        "pitch": 0.6334453821182251,
                        "yaw": 90.52861022949219
                    }
                },
                "velocity": {
                    "x": -0.0071847750805318356,
                    "y": 1.8612380027770996,
                    "z": 0.01635061204433441
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003422877925913781,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.3169907106203027e-05,
                    "y": -1.653109165999922e-06,
                    "z": 0.0003420303401071578
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005303863435983658,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 3.1390263757202774e-05,
                    "y": -1.9263301510363817e-05,
                    "z": 0.0005291060660965741
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7215421199798584,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2484.215087890625,
                        "z": 364.9730529785156
                    },
                    "rotation": {
                        "roll": -0.0012206645915284753,
                        "pitch": 0.5765976905822754,
                        "yaw": 90.03335571289062
                    }
                },
                "velocity": {
                    "x": -0.002673724200576544,
                    "y": 1.7214970588684082,
                    "z": 0.012169770896434784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3132660388946533,
                "transform": {
                    "location": {
                        "x": 2185.015869140625,
                        "y": 2495.91845703125,
                        "z": 365.0539245605469
                    },
                    "rotation": {
                        "roll": 0.0003564918297342956,
                        "pitch": 0.5196954011917114,
                        "yaw": 90.07356262207031
                    }
                },
                "velocity": {
                    "x": -0.003782806685194373,
                    "y": 2.313218116760254,
                    "z": 0.01439809799194336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2653829753398895,
        "expert_target_speed": 0.0,
        "target_point": [
            10.838002224813449,
            8.609901763409548
        ],
        "target_point_next": [
            11.410869616010856,
            36.60410845132026
        ]
    },
    "310": {
        "acceleration": [
            -1.0037559270858765,
            3.881039619445801,
            -0.00325031578540802
        ],
        "angular_velocity": [
            0.2664159834384918,
            0.40737849473953247,
            6.624319553375244
        ],
        "forward_vector": [
            -0.0402166023850441,
            0.9991494417190552,
            0.009117833338677883
        ],
        "right_vector": [
            -0.9991852641105652,
            -0.040245600044727325,
            0.0030193612910807133
        ],
        "location": [
            2184.92529296875,
            2514.531982421875,
            365.1289367675781
        ],
        "rotation": [
            -0.1730041205883026,
            0.5224206447601318,
            92.30496215820312
        ],
        "velocity": [
            -0.3186306357383728,
            3.416799783706665,
            0.009770793840289116
        ],
        "speed": 3.431624432243271,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.195486068725586,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.545742034912109,
                "transform": {
                    "location": {
                        "x": 2139.627685546875,
                        "y": 2527.33203125,
                        "z": 364.78338623046875
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.19005683064460754,
                        "yaw": 0.38144922256469727
                    }
                },
                "velocity": {
                    "x": 4.545632362365723,
                    "y": 0.026260966435074806,
                    "z": -0.01758536323904991
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5866584181785583,
                "transform": {
                    "location": {
                        "x": 2225.62255859375,
                        "y": 2524.27490234375,
                        "z": 366.2123718261719
                    },
                    "rotation": {
                        "roll": 0.009761232882738113,
                        "pitch": -2.4667704105377197,
                        "yaw": 179.3235321044922
                    }
                },
                "velocity": {
                    "x": -0.5864236950874329,
                    "y": -0.003513439791277051,
                    "z": -0.01621798425912857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3635669946670532,
                "transform": {
                    "location": {
                        "x": 2187.87548828125,
                        "y": 2564.207275390625,
                        "z": 365.14971923828125
                    },
                    "rotation": {
                        "roll": 0.0021913894452154636,
                        "pitch": 0.24056607484817505,
                        "yaw": -89.88994598388672
                    }
                },
                "velocity": {
                    "x": 0.0005097290850244462,
                    "y": -1.3635512590408325,
                    "z": 0.006544933188706636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9530428051948547,
                "transform": {
                    "location": {
                        "x": 2185.062744140625,
                        "y": 2456.7861328125,
                        "z": 364.771240234375
                    },
                    "rotation": {
                        "roll": 0.00023834941384848207,
                        "pitch": 0.6026139259338379,
                        "yaw": 90.09868621826172
                    }
                },
                "velocity": {
                    "x": -0.0011620547156780958,
                    "y": 0.9529905319213867,
                    "z": 0.009910821914672852
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002524016017559916,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7599792480469
                    },
                    "rotation": {
                        "roll": 0.0015134684508666396,
                        "pitch": 0.29787135124206543,
                        "yaw": 0.08728653937578201
                    }
                },
                "velocity": {
                    "x": -5.476202568388544e-05,
                    "y": -0.00017145185847766697,
                    "z": -0.00017695182759780437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4063921868801117,
                "transform": {
                    "location": {
                        "x": 2211.15966796875,
                        "y": 2524.2890625,
                        "z": 365.79254150390625
                    },
                    "rotation": {
                        "roll": 0.007293965667486191,
                        "pitch": -1.875241994857788,
                        "yaw": 179.69708251953125
                    }
                },
                "velocity": {
                    "x": -0.4062230587005615,
                    "y": 0.0017953463830053806,
                    "z": -0.0115854162722826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001970261102542281,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2549.65966796875,
                        "z": 365.1570129394531
                    },
                    "rotation": {
                        "roll": 0.0013952803565189242,
                        "pitch": -0.06151951104402542,
                        "yaw": -90.07547760009766
                    }
                },
                "velocity": {
                    "x": 4.283215821487829e-05,
                    "y": 0.001691471436060965,
                    "z": 0.0010094644967466593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.25396454334259033,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.862548828125,
                        "z": 365.1654357910156
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": 0.01271098107099533,
                        "yaw": -89.90215301513672
                    }
                },
                "velocity": {
                    "x": 0.00011759956396417692,
                    "y": -0.25395920872688293,
                    "z": 0.0016421889886260033
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002632003161124885,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.001786823500879109,
                        "pitch": -1.4241353273391724,
                        "yaw": 179.79933166503906
                    }
                },
                "velocity": {
                    "x": -6.187930557643995e-05,
                    "y": -1.3875309150535031e-06,
                    "z": -0.000255819148151204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0589115619659424,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2471.722412109375,
                        "z": 364.880859375
                    },
                    "rotation": {
                        "roll": 0.005334753543138504,
                        "pitch": 0.5755390524864197,
                        "yaw": 90.53258514404297
                    }
                },
                "velocity": {
                    "x": -0.005601868499070406,
                    "y": 2.058835744857788,
                    "z": 0.01674189604818821
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017542131710798e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.1684745686579845e-06,
                    "y": -4.7844776418060064e-05,
                    "z": -6.432426016544923e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000529061711858958,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 4.301890839997213e-06,
                    "y": -9.254459314433916e-07,
                    "z": 0.0005290434346534312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.202522039413452,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2484.74267578125,
                        "z": 364.9764709472656
                    },
                    "rotation": {
                        "roll": -0.0011901840334758162,
                        "pitch": 0.651975691318512,
                        "yaw": 90.04966735839844
                    }
                },
                "velocity": {
                    "x": -0.0036006998270750046,
                    "y": 2.202468156814575,
                    "z": 0.014965953305363655
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.18779689073562622,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2496.37548828125,
                        "z": 365.056396484375
                    },
                    "rotation": {
                        "roll": -0.0003051709209103137,
                        "pitch": 0.07259124517440796,
                        "yaw": 90.1075439453125
                    }
                },
                "velocity": {
                    "x": 4.2323423258494586e-05,
                    "y": 0.18779219686985016,
                    "z": 0.001328001031652093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3377733528614044,
        "expert_target_speed": 4.36338270836238,
        "target_point": [
            10.276258566929027,
            8.349809504000648
        ],
        "target_point_next": [
            11.46384516870843,
            36.32468078514574
        ]
    },
    "315": {
        "acceleration": [
            -1.7788004875183105,
            3.2900428771972656,
            0.008330736309289932
        ],
        "angular_velocity": [
            -0.14356352388858795,
            0.6713250875473022,
            13.211771965026855
        ],
        "forward_vector": [
            -0.0852992981672287,
            0.9963072538375854,
            0.009792766533792019
        ],
        "right_vector": [
            -0.9963317513465881,
            -0.08536078780889511,
            0.006041852291673422
        ],
        "location": [
            2184.80712890625,
            2515.51318359375,
            365.1313171386719
        ],
        "rotation": [
            -0.3461913466453552,
            0.5610931515693665,
            94.89347076416016
        ],
        "velocity": [
            -0.6978946328163147,
            4.34950590133667,
            0.010746669955551624
        ],
        "speed": 4.405140009611084,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.464923858642578,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.234154224395752,
                "transform": {
                    "location": {
                        "x": 2140.882568359375,
                        "y": 2527.339599609375,
                        "z": 364.7789001464844
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": -0.19070570170879364,
                        "yaw": 0.3478863537311554
                    }
                },
                "velocity": {
                    "x": 5.234036922454834,
                    "y": 0.029825640842318535,
                    "z": -0.018433865159749985
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.367059350013733,
                "transform": {
                    "location": {
                        "x": 2225.447998046875,
                        "y": 2524.275634765625,
                        "z": 366.2079162597656
                    },
                    "rotation": {
                        "roll": 0.01178047526627779,
                        "pitch": -1.88521409034729,
                        "yaw": 179.3831329345703
                    }
                },
                "velocity": {
                    "x": -1.366457462310791,
                    "y": 0.004237699788063765,
                    "z": -0.04034075140953064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9182873368263245,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2564.097412109375,
                        "z": 365.15057373046875
                    },
                    "rotation": {
                        "roll": 0.0002960211713798344,
                        "pitch": 0.20283611118793488,
                        "yaw": -89.92144012451172
                    }
                },
                "velocity": {
                    "x": 0.0025656702928245068,
                    "y": -0.9182802438735962,
                    "z": 0.00254307733848691
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6918903589248657,
                "transform": {
                    "location": {
                        "x": 2185.06298828125,
                        "y": 2457.1201171875,
                        "z": 364.774169921875
                    },
                    "rotation": {
                        "roll": 0.0004735035472549498,
                        "pitch": 0.6736000776290894,
                        "yaw": 90.12935638427734
                    }
                },
                "velocity": {
                    "x": -0.0034062915947288275,
                    "y": 1.6917951107025146,
                    "z": 0.01762445457279682
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000493844854645431,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -3.211643343092874e-05,
                    "y": -6.443280290113762e-05,
                    "z": 0.0004885690286755562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.6960017681121826,
                "transform": {
                    "location": {
                        "x": 2210.8759765625,
                        "y": 2524.2900390625,
                        "z": 365.7847900390625
                    },
                    "rotation": {
                        "roll": 0.0033887119498103857,
                        "pitch": -1.4258360862731934,
                        "yaw": 179.70809936523438
                    }
                },
                "velocity": {
                    "x": -1.695343017578125,
                    "y": 0.005042442586272955,
                    "z": -0.04699563980102539
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009675441542640328,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2549.658935546875,
                        "z": 365.1571350097656
                    },
                    "rotation": {
                        "roll": 0.000361488142516464,
                        "pitch": 0.04178709536790848,
                        "yaw": -90.075439453125
                    }
                },
                "velocity": {
                    "x": 0.00019993360911030322,
                    "y": 0.00028603809187188745,
                    "z": 0.000902413681615144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0958489179611206,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.69921875,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.00030517138657160103,
                        "pitch": 0.12066894769668579,
                        "yaw": -89.88800811767578
                    }
                },
                "velocity": {
                    "x": 0.001602484961040318,
                    "y": -1.0958467721939087,
                    "z": 0.0014039230300113559
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00033012768835760653,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.001786823500879109,
                        "pitch": -1.4241353273391724,
                        "yaw": 179.79933166503906
                    }
                },
                "velocity": {
                    "x": -5.42287525604479e-05,
                    "y": -4.2614959966158494e-05,
                    "z": -0.00032284282497130334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5279015302658081,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2471.830810546875,
                        "z": 364.8816223144531
                    },
                    "rotation": {
                        "roll": -3.052290776395239e-05,
                        "pitch": 0.32851842045783997,
                        "yaw": 90.5745849609375
                    }
                },
                "velocity": {
                    "x": -0.003629527986049652,
                    "y": 0.5278760194778442,
                    "z": 0.003711967496201396
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010129912989214063,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.9312798031023704e-05,
                    "y": 2.156544906029012e-05,
                    "z": 0.0010125775588676333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3386278748512268,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2484.9423828125,
                        "z": 364.98052978515625
                    },
                    "rotation": {
                        "roll": -0.0009155294974334538,
                        "pitch": -0.07202433794736862,
                        "yaw": 90.05245971679688
                    }
                },
                "velocity": {
                    "x": -0.001056647626683116,
                    "y": 0.3386184871196747,
                    "z": 0.002289199735969305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3018618822097778,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2496.56201171875,
                        "z": 365.0576171875
                    },
                    "rotation": {
                        "roll": 1.4100889529800043e-05,
                        "pitch": 0.36400124430656433,
                        "yaw": 90.0963134765625
                    }
                },
                "velocity": {
                    "x": -0.0021595240104943514,
                    "y": 1.3018428087234497,
                    "z": 0.006724500562995672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3872922658920288,
        "expert_target_speed": 5.219566441671564,
        "target_point": [
            9.655165668205775,
            7.843156190261402
        ],
        "target_point_next": [
            12.104950941991925,
            35.73584944935172
        ]
    },
    "320": {
        "acceleration": [
            -2.0238280296325684,
            0.455474853515625,
            -0.010088533163070679
        ],
        "angular_velocity": [
            -0.9680938720703125,
            0.3978157937526703,
            18.958072662353516
        ],
        "forward_vector": [
            -0.15746243298053741,
            0.9874958992004395,
            0.007578419055789709
        ],
        "right_vector": [
            -0.9874672293663025,
            -0.15753161907196045,
            0.009610925801098347
        ],
        "location": [
            2184.5771484375,
            2516.671630859375,
            365.1345520019531
        ],
        "rotation": [
            -0.5506897568702698,
            0.43421560525894165,
            99.05989837646484
        ],
        "velocity": [
            -1.2251652479171753,
            4.770480632781982,
            0.009759549982845783
        ],
        "speed": 4.925293428056031,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.562776565551758,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.805757999420166,
                "transform": {
                    "location": {
                        "x": 2142.244873046875,
                        "y": 2527.34765625,
                        "z": 364.7736511230469
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": -0.20108075439929962,
                        "yaw": 0.3324503004550934
                    }
                },
                "velocity": {
                    "x": 5.805621147155762,
                    "y": 0.033422790467739105,
                    "z": -0.02169470675289631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.239553451538086,
                "transform": {
                    "location": {
                        "x": 2224.96484375,
                        "y": 2524.277099609375,
                        "z": 366.1935119628906
                    },
                    "rotation": {
                        "roll": 0.009825138375163078,
                        "pitch": -1.6763536930084229,
                        "yaw": 179.45538330078125
                    }
                },
                "velocity": {
                    "x": -2.238487482070923,
                    "y": 0.00798362959176302,
                    "z": -0.06862732768058777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6432527303695679,
                "transform": {
                    "location": {
                        "x": 2187.87646484375,
                        "y": 2563.7705078125,
                        "z": 365.1510314941406
                    },
                    "rotation": {
                        "roll": 0.00010472209396539256,
                        "pitch": 0.29967454075813293,
                        "yaw": -89.92230987548828
                    }
                },
                "velocity": {
                    "x": 0.004266019910573959,
                    "y": -1.6432340145111084,
                    "z": 0.006584739312529564
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1707723140716553,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2457.642333984375,
                        "z": 364.7796936035156
                    },
                    "rotation": {
                        "roll": 0.0009119188180193305,
                        "pitch": 0.6674938797950745,
                        "yaw": 90.13888549804688
                    }
                },
                "velocity": {
                    "x": -0.005213423632085323,
                    "y": 2.1706628799438477,
                    "z": 0.021166933700442314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015889214409980923,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -1.6498415789101273e-05,
                    "y": 3.357573950779624e-05,
                    "z": 0.00015442533185705543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00383976218290627,
                "transform": {
                    "location": {
                        "x": 2210.564208984375,
                        "y": 2524.290283203125,
                        "z": 365.7762145996094
                    },
                    "rotation": {
                        "roll": 0.015222831629216671,
                        "pitch": -1.813319444656372,
                        "yaw": 179.52780151367188
                    }
                },
                "velocity": {
                    "x": -0.0037298467941582203,
                    "y": -0.0006442866870202124,
                    "z": 0.0006456863484345376
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014408627757802606,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2549.65869140625,
                        "z": 365.15716552734375
                    },
                    "rotation": {
                        "roll": 0.00029742027982138097,
                        "pitch": 0.07038509845733643,
                        "yaw": -90.07546997070312
                    }
                },
                "velocity": {
                    "x": -0.00021872317302040756,
                    "y": 0.00014832847227808088,
                    "z": 0.0014164195163175464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3428151607513428,
                "transform": {
                    "location": {
                        "x": 2187.9130859375,
                        "y": 2539.26708984375,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": 0.0019813012331724167,
                        "pitch": 0.20681129395961761,
                        "yaw": -89.92900848388672
                    }
                },
                "velocity": {
                    "x": 0.003010059241205454,
                    "y": -2.3428127765655518,
                    "z": -0.0015359973767772317
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014650775119662285,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.001786823500879109,
                        "pitch": -1.4241353273391724,
                        "yaw": 179.79933166503906
                    }
                },
                "velocity": {
                    "x": -7.64611322665587e-05,
                    "y": -8.227898797485977e-05,
                    "z": -9.406585013493896e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7335925102233887,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2472.125,
                        "z": 364.8842468261719
                    },
                    "rotation": {
                        "roll": 0.007779713254421949,
                        "pitch": 0.6510672569274902,
                        "yaw": 90.46992492675781
                    }
                },
                "velocity": {
                    "x": -0.00477584358304739,
                    "y": 1.733522653579712,
                    "z": 0.014814195223152637
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029276448185555637,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.1254027413087897e-05,
                    "y": -1.2772627997037489e-05,
                    "z": 0.00029226913466118276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005437989602796733,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 3.96788118450786e-06,
                    "y": -5.106050593894906e-06,
                    "z": 0.0005437604850158095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2395484447479248,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2485.150634765625,
                        "z": 364.9799499511719
                    },
                    "rotation": {
                        "roll": -0.0003662271483335644,
                        "pitch": 0.45652300119400024,
                        "yaw": 90.0237045288086
                    }
                },
                "velocity": {
                    "x": -0.0016796825220808387,
                    "y": 1.2395251989364624,
                    "z": 0.007393293082714081
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7055623531341553,
                "transform": {
                    "location": {
                        "x": 2185.0146484375,
                        "y": 2497.068115234375,
                        "z": 365.0604553222656
                    },
                    "rotation": {
                        "roll": -0.0013427563244476914,
                        "pitch": 0.5589143633842468,
                        "yaw": 90.13361358642578
                    }
                },
                "velocity": {
                    "x": -0.005183822941035032,
                    "y": 2.705510139465332,
                    "z": 0.016005486249923706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3918944001197815,
        "expert_target_speed": 5.625890307445325,
        "target_point": [
            9.019278831179314,
            7.076244838369476
        ],
        "target_point_next": [
            13.489114158339905,
            34.71723536478566
        ]
    },
    "325": {
        "acceleration": [
            -1.7864537239074707,
            -1.9542598724365234,
            -0.010741613805294037
        ],
        "angular_velocity": [
            -1.1044213771820068,
            0.18788264691829681,
            22.347265243530273
        ],
        "forward_vector": [
            -0.2462971955537796,
            0.969189465045929,
            0.003065104130655527
        ],
        "right_vector": [
            -0.9691183567047119,
            -0.24631626904010773,
            0.011745813302695751
        ],
        "location": [
            2184.224853515625,
            2517.841552734375,
            365.1376953125
        ],
        "rotation": [
            -0.673004150390625,
            0.17561781406402588,
            104.25857543945312
        ],
        "velocity": [
            -1.7028803825378418,
            4.492959976196289,
            0.008003568276762962
        ],
        "speed": 4.804840366227996,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.588470458984375,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.906977653503418,
                "transform": {
                    "location": {
                        "x": 2143.837646484375,
                        "y": 2527.355712890625,
                        "z": 364.7674255371094
                    },
                    "rotation": {
                        "roll": 0.001240635639987886,
                        "pitch": -0.18283049762248993,
                        "yaw": 0.24890561401844025
                    }
                },
                "velocity": {
                    "x": 6.906896591186523,
                    "y": 0.020899757742881775,
                    "z": -0.026146072894334793
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7358015775680542,
                "transform": {
                    "location": {
                        "x": 2224.4912109375,
                        "y": 2524.279052734375,
                        "z": 366.1788635253906
                    },
                    "rotation": {
                        "roll": 0.013674640096724033,
                        "pitch": -1.7943998575210571,
                        "yaw": 179.4261016845703
                    }
                },
                "velocity": {
                    "x": -1.7350120544433594,
                    "y": 0.005797005724161863,
                    "z": -0.052024953067302704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.140944480895996,
                "transform": {
                    "location": {
                        "x": 2187.877685546875,
                        "y": 2563.2548828125,
                        "z": 365.153076171875
                    },
                    "rotation": {
                        "roll": -0.0003051749081350863,
                        "pitch": 0.3013684153556824,
                        "yaw": -89.81985473632812
                    }
                },
                "velocity": {
                    "x": 0.0074454909190535545,
                    "y": -2.1409108638763428,
                    "z": 0.009392986074090004
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6778138279914856,
                "transform": {
                    "location": {
                        "x": 2185.0595703125,
                        "y": 2457.806884765625,
                        "z": 364.7826843261719
                    },
                    "rotation": {
                        "roll": 0.001328951446339488,
                        "pitch": 0.5110278725624084,
                        "yaw": 90.00798034667969
                    }
                },
                "velocity": {
                    "x": -0.0016790280351415277,
                    "y": 0.6777802109718323,
                    "z": 0.006535530090332031
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001041451541823335,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -1.439288189430954e-05,
                    "y": 3.8222133298404515e-05,
                    "z": 9.580254118191078e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0022499889601022005,
                "transform": {
                    "location": {
                        "x": 2210.562744140625,
                        "y": 2524.290283203125,
                        "z": 365.7762145996094
                    },
                    "rotation": {
                        "roll": 0.013532089069485664,
                        "pitch": -1.6422984600067139,
                        "yaw": 179.52769470214844
                    }
                },
                "velocity": {
                    "x": 0.001913334708660841,
                    "y": -3.99330492655281e-05,
                    "z": 0.0011832184391096234
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.167040154337883,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2549.646728515625,
                        "z": 365.1572265625
                    },
                    "rotation": {
                        "roll": 7.156033825594932e-05,
                        "pitch": 0.09709113091230392,
                        "yaw": -90.06499481201172
                    }
                },
                "velocity": {
                    "x": 2.56356051977491e-05,
                    "y": -0.1670304387807846,
                    "z": 0.0018017577240243554
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6724274158477783,
                "transform": {
                    "location": {
                        "x": 2187.913818359375,
                        "y": 2538.48779296875,
                        "z": 365.1651916503906
                    },
                    "rotation": {
                        "roll": 0.0004852415295317769,
                        "pitch": 0.2512894868850708,
                        "yaw": -89.93846893310547
                    }
                },
                "velocity": {
                    "x": 0.004459233023226261,
                    "y": -3.67242431640625,
                    "z": -0.0018920707516372204
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017578573897480965,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0015518985455855727,
                        "pitch": -1.4234864711761475,
                        "yaw": 179.7991180419922
                    }
                },
                "velocity": {
                    "x": -5.747914110543206e-05,
                    "y": 1.1744107723643538e-05,
                    "z": 0.00016570712614338845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3787457942962646,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2472.685302734375,
                        "z": 364.88897705078125
                    },
                    "rotation": {
                        "roll": 0.007343370001763105,
                        "pitch": 0.6437042951583862,
                        "yaw": 90.3685073852539
                    }
                },
                "velocity": {
                    "x": -0.005851512309163809,
                    "y": 2.378641366958618,
                    "z": 0.021498288959264755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002385553380008787,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -3.7317722672014497e-06,
                    "y": 2.2933036234462634e-05,
                    "z": 0.00023742114717606455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021346005087252706,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.491650078212842e-06,
                    "y": 1.837886156863533e-05,
                    "z": -0.00021249777637422085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0478763580322266,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2485.561767578125,
                        "z": 364.98193359375
                    },
                    "rotation": {
                        "roll": -0.0010986393317580223,
                        "pitch": 0.6596254706382751,
                        "yaw": 90.029052734375
                    }
                },
                "velocity": {
                    "x": -0.004028512630611658,
                    "y": 2.047825336456299,
                    "z": 0.013876628130674362
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.210241794586182,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2497.946533203125,
                        "z": 365.06549072265625
                    },
                    "rotation": {
                        "roll": 0.0004876927996519953,
                        "pitch": 0.6135149002075195,
                        "yaw": 90.12167358398438
                    }
                },
                "velocity": {
                    "x": -0.007311095949262381,
                    "y": 4.210172653198242,
                    "z": 0.023028554394841194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.46025705337524414,
        "expert_target_speed": 5.455561281350874,
        "target_point": [
            8.402700924128133,
            6.176613674537601
        ],
        "target_point_next": [
            15.358681054747631,
            33.298894654495555
        ]
    },
    "330": {
        "acceleration": [
            -0.9361076354980469,
            -2.8877735137939453,
            -0.1427021026611328
        ],
        "angular_velocity": [
            -0.682886004447937,
            -1.5984742641448975,
            23.623937606811523
        ],
        "forward_vector": [
            -0.3440612256526947,
            0.9389451742172241,
            -0.0019537198822945356
        ],
        "right_vector": [
            -0.9389083385467529,
            -0.3440273106098175,
            0.009816767647862434
        ],
        "location": [
            2183.7705078125,
            2518.890625,
            365.1383972167969
        ],
        "rotation": [
            -0.5624694228172302,
            -0.11193996667861938,
            110.12454223632812
        ],
        "velocity": [
            -2.0517804622650146,
            3.858203411102295,
            -0.007346992380917072
        ],
        "speed": 4.369844004855759,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.627472877502441,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5595927238464355,
                "transform": {
                    "location": {
                        "x": 2145.688720703125,
                        "y": 2527.361083984375,
                        "z": 364.760498046875
                    },
                    "rotation": {
                        "roll": 0.0012413947843015194,
                        "pitch": -0.19131359457969666,
                        "yaw": 0.10374405980110168
                    }
                },
                "velocity": {
                    "x": 7.559527397155762,
                    "y": 0.01162127498537302,
                    "z": -0.029224762693047523
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.326854705810547,
                "transform": {
                    "location": {
                        "x": 2223.968994140625,
                        "y": 2524.28076171875,
                        "z": 366.1629943847656
                    },
                    "rotation": {
                        "roll": 0.01087267603725195,
                        "pitch": -1.7033671140670776,
                        "yaw": 179.4818572998047
                    }
                },
                "velocity": {
                    "x": -2.3257784843444824,
                    "y": 0.007267458364367485,
                    "z": -0.07039134204387665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6673462986946106,
                "transform": {
                    "location": {
                        "x": 2187.877197265625,
                        "y": 2563.11083984375,
                        "z": 365.1550598144531
                    },
                    "rotation": {
                        "roll": 4.038096813019365e-05,
                        "pitch": 0.1528664529323578,
                        "yaw": -89.733154296875
                    }
                },
                "velocity": {
                    "x": 0.0020758279133588076,
                    "y": -0.6673409938812256,
                    "z": 0.0016574859619140625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.469926118850708,
                "transform": {
                    "location": {
                        "x": 2185.06005859375,
                        "y": 2458.091064453125,
                        "z": 364.78436279296875
                    },
                    "rotation": {
                        "roll": 0.0015256054466590285,
                        "pitch": 0.6520302891731262,
                        "yaw": 90.05701446533203
                    }
                },
                "velocity": {
                    "x": -0.0026286342181265354,
                    "y": 1.4698535203933716,
                    "z": 0.01437296811491251
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016680851695127785,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -6.449334250646643e-06,
                    "y": -1.181158222607337e-05,
                    "z": 0.0001662647700868547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001037238514982164,
                "transform": {
                    "location": {
                        "x": 2210.562255859375,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.009033438749611378,
                        "pitch": -1.5617636442184448,
                        "yaw": 179.5276641845703
                    }
                },
                "velocity": {
                    "x": 0.0003991213452536613,
                    "y": -2.942131322924979e-05,
                    "z": 0.0009569223038852215
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9748294949531555,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2549.497314453125,
                        "z": 365.1575622558594
                    },
                    "rotation": {
                        "roll": -0.0015869196504354477,
                        "pitch": 0.18193574249744415,
                        "yaw": -90.06490325927734
                    }
                },
                "velocity": {
                    "x": 0.0012296490604057908,
                    "y": -0.9748274087905884,
                    "z": 0.0015979098388925195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.907902956008911,
                "transform": {
                    "location": {
                        "x": 2187.9150390625,
                        "y": 2537.666748046875,
                        "z": 365.1647033691406
                    },
                    "rotation": {
                        "roll": -0.0003051742387469858,
                        "pitch": -0.06750275939702988,
                        "yaw": -89.93865203857422
                    }
                },
                "velocity": {
                    "x": 0.003654184052720666,
                    "y": -2.907900094985962,
                    "z": -0.0017623137682676315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.396789831342176e-05,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0020884887780994177,
                        "pitch": -1.4241353273391724,
                        "yaw": 179.7989959716797
                    }
                },
                "velocity": {
                    "x": -4.9149839469464496e-05,
                    "y": 1.4359216947923414e-05,
                    "z": -3.834056042251177e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.24132885038852692,
                "transform": {
                    "location": {
                        "x": 2185.031005859375,
                        "y": 2472.875,
                        "z": 364.8904724121094
                    },
                    "rotation": {
                        "roll": -0.0016479468904435635,
                        "pitch": 0.20392894744873047,
                        "yaw": 90.52404022216797
                    }
                },
                "velocity": {
                    "x": -0.004813869018107653,
                    "y": 0.24127326905727386,
                    "z": 0.001910629216581583
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004134519549552351,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.3674497495230753e-05,
                    "y": 3.55510883309762e-06,
                    "z": 0.00041321045137010515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045379617949947715,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.117891411529854e-06,
                    "y": -7.3363316914765164e-06,
                    "z": 0.0004536642518360168
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5823025703430176,
                "transform": {
                    "location": {
                        "x": 2185.027587890625,
                        "y": 2486.039306640625,
                        "z": 364.98651123046875
                    },
                    "rotation": {
                        "roll": 0.0009019970893859863,
                        "pitch": 0.2947772741317749,
                        "yaw": 90.0514907836914
                    }
                },
                "velocity": {
                    "x": -0.001026076846756041,
                    "y": 0.5822907090187073,
                    "z": 0.0035696791019290686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6766343116760254,
                "transform": {
                    "location": {
                        "x": 2185.010986328125,
                        "y": 2498.9619140625,
                        "z": 365.071044921875
                    },
                    "rotation": {
                        "roll": 0.00019219504611101002,
                        "pitch": 0.2978440523147583,
                        "yaw": 90.10981750488281
                    }
                },
                "velocity": {
                    "x": -0.0057134502567350864,
                    "y": 3.676569700241089,
                    "z": 0.02101696841418743
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4344298839569092,
        "expert_target_speed": 5.001601985939354,
        "target_point": [
            7.8486175078742955,
            5.219837689650094
        ],
        "target_point_next": [
            17.540124905140807,
            31.489182361759642
        ]
    },
    "335": {
        "acceleration": [
            0.23399829864501953,
            -3.4393787384033203,
            -0.02936936914920807
        ],
        "angular_velocity": [
            -1.6951309442520142,
            -1.6000289916992188,
            21.160476684570312
        ],
        "forward_vector": [
            -0.4342336654663086,
            0.9007408618927002,
            -0.010348253883421421
        ],
        "right_vector": [
            -0.9008001089096069,
            -0.43419790267944336,
            0.00560189550742507
        ],
        "location": [
            2183.270263671875,
            2519.759521484375,
            365.1322937011719
        ],
        "rotation": [
            -0.3209838271141052,
            -0.5929218530654907,
            115.7380142211914
        ],
        "velocity": [
            -2.083352565765381,
            3.063936710357666,
            -0.0455399826169014
        ],
        "speed": 3.705140493740899,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.744495391845703,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.164794921875,
                        "z": 364.85650634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.411408424377441,
                "transform": {
                    "location": {
                        "x": 2147.4462890625,
                        "y": 2527.364013671875,
                        "z": 364.7543029785156
                    },
                    "rotation": {
                        "roll": 0.0005576180410571396,
                        "pitch": -0.2451149821281433,
                        "yaw": 0.02962062694132328
                    }
                },
                "velocity": {
                    "x": 6.411355495452881,
                    "y": 0.006055655423551798,
                    "z": -0.025266971439123154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006605017115361989,
                "transform": {
                    "location": {
                        "x": 2223.631103515625,
                        "y": 2524.2822265625,
                        "z": 366.1522216796875
                    },
                    "rotation": {
                        "roll": 0.020070722326636314,
                        "pitch": -2.057553291320801,
                        "yaw": 179.41371154785156
                    }
                },
                "velocity": {
                    "x": -0.0006227305275388062,
                    "y": 0.00018898685812018812,
                    "z": 0.00011292999261058867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.463288426399231,
                "transform": {
                    "location": {
                        "x": 2187.878173828125,
                        "y": 2562.83349609375,
                        "z": 365.1549987792969
                    },
                    "rotation": {
                        "roll": 0.0016358251450583339,
                        "pitch": 0.2938278913497925,
                        "yaw": -89.74678802490234
                    }
                },
                "velocity": {
                    "x": 0.005101924296468496,
                    "y": -1.4632666110992432,
                    "z": 0.006161050871014595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1802055835723877,
                "transform": {
                    "location": {
                        "x": 2185.05908203125,
                        "y": 2458.567138671875,
                        "z": 364.7890625
                    },
                    "rotation": {
                        "roll": 0.0011327947722747922,
                        "pitch": 0.6697956323623657,
                        "yaw": 90.06781005859375
                    }
                },
                "velocity": {
                    "x": -0.0041749621741473675,
                    "y": 2.1800923347473145,
                    "z": 0.021819723770022392
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7489681087899953e-05,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -1.2278966096346267e-05,
                    "y": 4.5483673716262274e-07,
                    "z": 2.4590703105786815e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000241135319811292,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": 8.964270091382787e-05,
                    "y": 0.00021975669369567186,
                    "z": 4.263126538717188e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9275346994400024,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2549.13037109375,
                        "z": 365.15814208984375
                    },
                    "rotation": {
                        "roll": -0.001403813948854804,
                        "pitch": 0.2166057825088501,
                        "yaw": -89.9708023071289
                    }
                },
                "velocity": {
                    "x": 0.0036627049557864666,
                    "y": -1.9275306463241577,
                    "z": 0.0015286635607481003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.145162582397461,
                "transform": {
                    "location": {
                        "x": 2187.915283203125,
                        "y": 2536.930908203125,
                        "z": 365.1642150878906
                    },
                    "rotation": {
                        "roll": 0.00040662550600245595,
                        "pitch": -0.010347736068069935,
                        "yaw": -89.93001556396484
                    }
                },
                "velocity": {
                    "x": 0.0037967886310070753,
                    "y": -3.1451594829559326,
                    "z": -0.002167091239243746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00046668798313476145,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0021983934566378593,
                        "pitch": -1.4239168167114258,
                        "yaw": 179.79891967773438
                    }
                },
                "velocity": {
                    "x": -5.0824284699046984e-05,
                    "y": 0.00010251560161123052,
                    "z": -0.0004524434916675091
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5569554567337036,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2473.114990234375,
                        "z": 364.89263916015625
                    },
                    "rotation": {
                        "roll": 0.007393044885247946,
                        "pitch": 0.6199216246604919,
                        "yaw": 90.48416137695312
                    }
                },
                "velocity": {
                    "x": -0.005061831790953875,
                    "y": 1.5568910837173462,
                    "z": 0.013217811472713947
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001800837490009144,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.1902972801181022e-05,
                    "y": -1.323388119089941e-06,
                    "z": 0.00017968507017940283
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003506223438307643,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.572956292278832e-06,
                    "y": -5.575105660682311e-06,
                    "z": 0.0003504962078295648
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0471309423446655,
                "transform": {
                    "location": {
                        "x": 2185.027587890625,
                        "y": 2486.177734375,
                        "z": 364.9875793457031
                    },
                    "rotation": {
                        "roll": 0.0008738343021832407,
                        "pitch": 0.27920445799827576,
                        "yaw": 90.03998565673828
                    }
                },
                "velocity": {
                    "x": -0.002094332594424486,
                    "y": 1.0471066236495972,
                    "z": 0.006809196434915066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.737501382827759,
                "transform": {
                    "location": {
                        "x": 2185.0087890625,
                        "y": 2499.84619140625,
                        "z": 365.07568359375
                    },
                    "rotation": {
                        "roll": 0.0004677406686823815,
                        "pitch": 0.2931790351867676,
                        "yaw": 90.09740447998047
                    }
                },
                "velocity": {
                    "x": -0.004962137900292873,
                    "y": 3.7374560832977295,
                    "z": 0.01769159361720085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43629804253578186,
        "expert_target_speed": 4.33736256814689,
        "target_point": [
            7.321642476602806,
            4.35378450131809
        ],
        "target_point_next": [
            19.53627198229715,
            29.54915334505568
        ]
    },
    "340": {
        "acceleration": [
            0.9644842147827148,
            -2.859768867492676,
            0.037479326128959656
        ],
        "angular_velocity": [
            -0.46624308824539185,
            -1.7935559749603271,
            18.64664077758789
        ],
        "forward_vector": [
            -0.5109801292419434,
            0.8593993186950684,
            -0.01822287030518055
        ],
        "right_vector": [
            -0.8595579266548157,
            -0.5110349655151367,
            0.0018601742340251803
        ],
        "location": [
            2182.789306640625,
            2520.42236328125,
            365.12347412109375
        ],
        "rotation": [
            -0.1065978929400444,
            -1.0441514253616333,
            120.73480224609375
        ],
        "velocity": [
            -1.9171271324157715,
            2.2545204162597656,
            -0.039013613015413284
        ],
        "speed": 2.9594321666794166,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.995138168334961,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.618896484375,
                2527.32763671875,
                364.8740539550781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.166259765625,
                        "y": 2444.255126953125,
                        "z": 364.7710876464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.15851950645446777,
                "transform": {
                    "location": {
                        "x": 2148.271240234375,
                        "y": 2527.364990234375,
                        "z": 364.7521667480469
                    },
                    "rotation": {
                        "roll": 0.00024600644246675074,
                        "pitch": -0.39178645610809326,
                        "yaw": 0.010523824021220207
                    }
                },
                "velocity": {
                    "x": 0.1585150957107544,
                    "y": 0.0010209818137809634,
                    "z": -0.0005936622619628906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1517486572265625,
                "transform": {
                    "location": {
                        "x": 2223.458740234375,
                        "y": 2524.28271484375,
                        "z": 366.1473693847656
                    },
                    "rotation": {
                        "roll": 0.011386609636247158,
                        "pitch": -1.7275596857070923,
                        "yaw": 179.47320556640625
                    }
                },
                "velocity": {
                    "x": -1.1512341499328613,
                    "y": 0.0025217575021088123,
                    "z": -0.03432926535606384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3244969844818115,
                "transform": {
                    "location": {
                        "x": 2187.88037109375,
                        "y": 2562.357666015625,
                        "z": 365.1565856933594
                    },
                    "rotation": {
                        "roll": 0.0013323748717084527,
                        "pitch": 0.32271960377693176,
                        "yaw": -89.759033203125
                    }
                },
                "velocity": {
                    "x": 0.0064888871274888515,
                    "y": -2.324476957321167,
                    "z": 0.007130155339837074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3578493893146515,
                "transform": {
                    "location": {
                        "x": 2185.05859375,
                        "y": 2458.7783203125,
                        "z": 364.7929992675781
                    },
                    "rotation": {
                        "roll": 0.001649542129598558,
                        "pitch": 0.45283469557762146,
                        "yaw": 90.06967163085938
                    }
                },
                "velocity": {
                    "x": -0.0006625587120652199,
                    "y": 0.3578293025493622,
                    "z": 0.0037350368220359087
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002869889431167394,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -7.2150301093643066e-06,
                    "y": -1.2057194908265956e-05,
                    "z": 0.00028664476121775806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010216031223535538,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -5.677848821505904e-05,
                    "y": 3.177144753863104e-05,
                    "z": 0.001019529183395207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.004941463470459,
                "transform": {
                    "location": {
                        "x": 2187.901611328125,
                        "y": 2548.58642578125,
                        "z": 365.1587829589844
                    },
                    "rotation": {
                        "roll": -0.0010681201238185167,
                        "pitch": 0.12860561907291412,
                        "yaw": -89.8145980834961
                    }
                },
                "velocity": {
                    "x": 0.0024028506595641375,
                    "y": -2.0049383640289307,
                    "z": 0.0025808142963796854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5087,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.67244029045105,
                "transform": {
                    "location": {
                        "x": 2187.916015625,
                        "y": 2536.208251953125,
                        "z": 365.16412353515625
                    },
                    "rotation": {
                        "roll": 0.027042251080274582,
                        "pitch": -0.07974245399236679,
                        "yaw": -89.9317398071289
                    }
                },
                "velocity": {
                    "x": 0.008700367994606495,
                    "y": -2.672417163848877,
                    "z": 0.006893977988511324
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00036750599974766374,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0019420799799263477,
                        "pitch": -1.4239509105682373,
                        "yaw": 179.79885864257812
                    }
                },
                "velocity": {
                    "x": -2.4745761038502678e-05,
                    "y": 4.70185223093722e-05,
                    "z": -0.00036364482366479933
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.618896484375,
                        "y": 2527.32763671875,
                        "z": 364.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0005099092377349734,
                        "pitch": 0.9611577987670898,
                        "yaw": -0.1621398776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.217667818069458,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2473.638916015625,
                        "z": 364.8971252441406
                    },
                    "rotation": {
                        "roll": 0.00835566408932209,
                        "pitch": 0.644687831401825,
                        "yaw": 90.27670288085938
                    }
                },
                "velocity": {
                    "x": -0.004493719432502985,
                    "y": 2.217595100402832,
                    "z": 0.017383774742484093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00045336715993471444,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.5334710042225197e-05,
                    "y": 1.4998071264926693e-06,
                    "z": 0.0004531052545644343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000747749931178987,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.255338005052181e-06,
                    "y": 7.2209381869470235e-06,
                    "z": 0.0007476798491552472
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9272404909133911,
                "transform": {
                    "location": {
                        "x": 2185.027587890625,
                        "y": 2486.553466796875,
                        "z": 364.98876953125
                    },
                    "rotation": {
                        "roll": 0.0009443544549867511,
                        "pitch": 0.6134329438209534,
                        "yaw": 90.03722381591797
                    }
                },
                "velocity": {
                    "x": -0.0029555605724453926,
                    "y": 1.927192211151123,
                    "z": 0.013322686776518822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6479856967926025,
                "transform": {
                    "location": {
                        "x": 2185.0068359375,
                        "y": 2500.818603515625,
                        "z": 365.08056640625
                    },
                    "rotation": {
                        "roll": -6.103222040110268e-05,
                        "pitch": 0.2841016948223114,
                        "yaw": 90.0976791381836
                    }
                },
                "velocity": {
                    "x": -0.0060015530325472355,
                    "y": 3.647937774658203,
                    "z": 0.017674045637249947
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4599091708660126,
        "expert_target_speed": 3.595279858353928,
        "target_point": [
            6.857487171344193,
            3.624883595951834
        ],
        "target_point_next": [
            21.22018740829706,
            27.660620053085736
        ]
    },
    "345": {
        "acceleration": [
            -0.8710479736328125,
            -0.565025806427002,
            -0.019680261611938477
        ],
        "angular_velocity": [
            0.4127265512943268,
            -0.7361626625061035,
            17.726211547851562
        ],
        "forward_vector": [
            -0.5762628316879272,
            0.8169938921928406,
            -0.021027324721217155
        ],
        "right_vector": [
            -0.8171318769454956,
            -0.5764420032501221,
            -0.003181671956554055
        ],
        "location": [
            2182.336181640625,
            2520.93505859375,
            365.1149597167969
        ],
        "rotation": [
            0.18233700096607208,
            -1.20486581325531,
            125.19705963134766
        ],
        "velocity": [
            -1.9221712350845337,
            1.890383005142212,
            -0.037021081894636154
        ],
        "speed": 2.695976662198117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.348544120788574,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.620361328125,
                2527.32763671875,
                364.8738708496094
            ],
            "velocity": [
                -0.019957657903432846,
                2.9233344776002923e-06,
                -0.00022797583369538188
            ],
            "speed_kmh": 0.07185225656234796,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.164794921875,
                        "y": 2445.500732421875,
                        "z": 364.6734619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7733422517776489,
                "transform": {
                    "location": {
                        "x": 2148.37548828125,
                        "y": 2527.365478515625,
                        "z": 364.7505798339844
                    },
                    "rotation": {
                        "roll": 0.0007157138898037374,
                        "pitch": -0.25308582186698914,
                        "yaw": -0.0318298265337944
                    }
                },
                "velocity": {
                    "x": 0.7733398079872131,
                    "y": -0.0008128619519993663,
                    "z": -0.0017569256015121937
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.226158618927002,
                "transform": {
                    "location": {
                        "x": 2223.0244140625,
                        "y": 2524.283447265625,
                        "z": 366.13427734375
                    },
                    "rotation": {
                        "roll": 0.0029152552597224712,
                        "pitch": -1.6241369247436523,
                        "yaw": 179.6341094970703
                    }
                },
                "velocity": {
                    "x": -2.2251241207122803,
                    "y": 0.003031492466107011,
                    "z": -0.06779324263334274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.233020782470703,
                "transform": {
                    "location": {
                        "x": 2187.882568359375,
                        "y": 2561.677490234375,
                        "z": 365.1590576171875
                    },
                    "rotation": {
                        "roll": 0.00113616359885782,
                        "pitch": 0.31955721974372864,
                        "yaw": -89.78262329101562
                    }
                },
                "velocity": {
                    "x": 0.009426378645002842,
                    "y": -3.2329907417297363,
                    "z": 0.010251931846141815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2923805713653564,
                "transform": {
                    "location": {
                        "x": 2185.05859375,
                        "y": 2459.0126953125,
                        "z": 364.7938537597656
                    },
                    "rotation": {
                        "roll": -0.00027466489700600505,
                        "pitch": 0.6297639012336731,
                        "yaw": 90.0718994140625
                    }
                },
                "velocity": {
                    "x": -0.003001071745529771,
                    "y": 1.2923099994659424,
                    "z": 0.013166704215109348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002679041645023972,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -5.817785677209031e-06,
                    "y": -9.94025594991399e-06,
                    "z": 0.0002676564618013799
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004769587249029428,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -0.00010673612268874422,
                    "y": 1.434488149243407e-05,
                    "z": 0.00046464099432341754
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5241204500198364,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2548.47998046875,
                        "z": 365.1586608886719
                    },
                    "rotation": {
                        "roll": -0.0027160660829395056,
                        "pitch": -0.03390505537390709,
                        "yaw": -89.71990203857422
                    }
                },
                "velocity": {
                    "x": 0.0037186371628195047,
                    "y": -0.5241037011146545,
                    "z": 0.0019279384287074208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000142854725709185,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.001996755599975586,
                        "pitch": -1.42318594455719,
                        "yaw": 179.79879760742188
                    }
                },
                "velocity": {
                    "x": -5.260497346171178e-05,
                    "y": 1.0811637366714422e-05,
                    "z": -0.00013237558596301824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.01995895989239216,
                "transform": {
                    "location": {
                        "x": 2170.620361328125,
                        "y": 2527.32763671875,
                        "z": 364.8738708496094
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.9666629433631897,
                        "yaw": -0.1614684760570526
                    }
                },
                "velocity": {
                    "x": -0.019957657903432846,
                    "y": 2.9233344776002923e-06,
                    "z": -0.00022797583369538188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7793753743171692,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2473.849365234375,
                        "z": 364.8987731933594
                    },
                    "rotation": {
                        "roll": 0.0021865745075047016,
                        "pitch": 0.31798627972602844,
                        "yaw": 90.11931610107422
                    }
                },
                "velocity": {
                    "x": 0.000994906760752201,
                    "y": 0.7793514728546143,
                    "z": 0.006018676795065403
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005677217268384993,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.0664015462680254e-05,
                    "y": 1.157925453298958e-06,
                    "z": 0.000567620387300849
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005134686944074929,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 4.335455287218792e-06,
                    "y": 1.1627573712758021e-06,
                    "z": 0.000513449078425765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9896817207336426,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2487.16064453125,
                        "z": 364.99237060546875
                    },
                    "rotation": {
                        "roll": -0.0008544902084395289,
                        "pitch": 0.765602707862854,
                        "yaw": 90.0537338256836
                    }
                },
                "velocity": {
                    "x": -0.004488700069487095,
                    "y": 2.9896163940429688,
                    "z": 0.019252309575676918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9500224590301514,
                "transform": {
                    "location": {
                        "x": 2185.00537109375,
                        "y": 2501.627685546875,
                        "z": 365.0846862792969
                    },
                    "rotation": {
                        "roll": 0.0006945815403014421,
                        "pitch": 0.1788484901189804,
                        "yaw": 90.0835952758789
                    }
                },
                "velocity": {
                    "x": -0.0033779230434447527,
                    "y": 2.9499785900115967,
                    "z": 0.015744294971227646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4449773132801056,
        "expert_target_speed": 3.2752738211563135,
        "target_point": [
            22.627794907008965,
            25.851018803798052
        ],
        "target_point_next": [
            22.627794907008965,
            25.851018803798052
        ]
    },
    "350": {
        "acceleration": [
            -1.527543067932129,
            0.47238826751708984,
            -0.18634550273418427
        ],
        "angular_velocity": [
            0.501679003238678,
            0.37864917516708374,
            19.05451011657715
        ],
        "forward_vector": [
            -0.6391776204109192,
            0.7687802314758301,
            -0.020713038742542267
        ],
        "right_vector": [
            -0.768848717212677,
            -0.6394008994102478,
            -0.006172636989504099
        ],
        "location": [
            2181.83349609375,
            2521.419677734375,
            365.1056213378906
        ],
        "rotation": [
            0.35374417901039124,
            -1.186854600906372,
            129.74073791503906
        ],
        "velocity": [
            -2.252009391784668,
            1.918094277381897,
            -0.04658816382288933
        ],
        "speed": 2.9581467099539758,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.615338325500488,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.689453125,
                2527.32763671875,
                364.8752136230469
            ],
            "velocity": [
                0.554824948310852,
                -0.0020566661842167377,
                0.010840130038559437
            ],
            "speed_kmh": 1.9977647263526528,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.3976745605469
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1640625,
                        "y": 2446.33251953125,
                        "z": 364.64581298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4081968069076538,
                "transform": {
                    "location": {
                        "x": 2148.662353515625,
                        "y": 2527.365478515625,
                        "z": 364.74908447265625
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.19845113158226013,
                        "yaw": -0.0488586351275444
                    }
                },
                "velocity": {
                    "x": 1.408186912536621,
                    "y": -0.0018449487397447228,
                    "z": -0.004935798700898886
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0037545065861195326,
                "transform": {
                    "location": {
                        "x": 2222.635986328125,
                        "y": 2524.282958984375,
                        "z": 366.1218566894531
                    },
                    "rotation": {
                        "roll": -0.0017089839093387127,
                        "pitch": -2.014031410217285,
                        "yaw": 179.91290283203125
                    }
                },
                "velocity": {
                    "x": -0.00373612972907722,
                    "y": 5.1135895773768425e-05,
                    "z": 0.0003674764884635806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.586117267608643,
                "transform": {
                    "location": {
                        "x": 2187.885498046875,
                        "y": 2560.6884765625,
                        "z": 365.1623229980469
                    },
                    "rotation": {
                        "roll": 0.0034502665512263775,
                        "pitch": 0.3399931490421295,
                        "yaw": -89.80767059326172
                    }
                },
                "velocity": {
                    "x": 0.009159366600215435,
                    "y": -4.5860819816589355,
                    "z": 0.015456371009349823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.132920742034912,
                "transform": {
                    "location": {
                        "x": 2185.05810546875,
                        "y": 2459.43603515625,
                        "z": 364.7978515625
                    },
                    "rotation": {
                        "roll": -9.151997073786333e-05,
                        "pitch": 0.6621389985084534,
                        "yaw": 90.06957244873047
                    }
                },
                "velocity": {
                    "x": -0.004563148599117994,
                    "y": 2.132810354232788,
                    "z": 0.021220531314611435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004596754733938724,
                "transform": {
                    "location": {
                        "x": 2160.39990234375,
                        "y": 2527.34814453125,
                        "z": 364.7600402832031
                    },
                    "rotation": {
                        "roll": 0.0018013258231803775,
                        "pitch": 0.29257112741470337,
                        "yaw": 0.08729405701160431
                    }
                },
                "velocity": {
                    "x": -8.90951559995301e-06,
                    "y": 3.4191714348708047e-06,
                    "z": 0.0004595764330588281
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004907140973955393,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -4.329681360104587e-06,
                    "y": -5.688080273102969e-05,
                    "z": -0.00048738709301687777
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4364951848983765,
                "transform": {
                    "location": {
                        "x": 2187.902587890625,
                        "y": 2548.217529296875,
                        "z": 365.15936279296875
                    },
                    "rotation": {
                        "roll": 0.0015717174392193556,
                        "pitch": 0.17018099129199982,
                        "yaw": -89.72406005859375
                    }
                },
                "velocity": {
                    "x": 0.0045967865735292435,
                    "y": -1.4364864826202393,
                    "z": 0.001873073517344892
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00033557068672962487,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.001996755599975586,
                        "pitch": -1.42318594455719,
                        "yaw": 179.79879760742188
                    }
                },
                "velocity": {
                    "x": -7.479518535546958e-05,
                    "y": -7.634387293364853e-05,
                    "z": -0.00031809587380848825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5549346208572388,
                "transform": {
                    "location": {
                        "x": 2170.689453125,
                        "y": 2527.32763671875,
                        "z": 364.8752136230469
                    },
                    "rotation": {
                        "roll": -0.00012207017425680533,
                        "pitch": 0.9830759167671204,
                        "yaw": -0.169708251953125
                    }
                },
                "velocity": {
                    "x": 0.554824948310852,
                    "y": -0.0020566661842167377,
                    "z": 0.010840130038559437
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.016711950302124,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2474.206298828125,
                        "z": 364.90179443359375
                    },
                    "rotation": {
                        "roll": 0.002637262223288417,
                        "pitch": 0.6486971974372864,
                        "yaw": 90.11602020263672
                    }
                },
                "velocity": {
                    "x": -0.0015217610634863377,
                    "y": 2.016646146774292,
                    "z": 0.016211938112974167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.139941928675398e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.637326002120972e-06,
                    "y": 1.0018498386443753e-07,
                    "z": 8.082683780230582e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034931066329590976,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.4605280486866832e-05,
                    "y": -4.494203835747612e-07,
                    "z": -0.0003484426997601986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.391009330749512,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2488.09619140625,
                        "z": 364.9979553222656
                    },
                    "rotation": {
                        "roll": -0.0010070499265566468,
                        "pitch": 0.9231341481208801,
                        "yaw": 90.07023620605469
                    }
                },
                "velocity": {
                    "x": -0.0074001094326376915,
                    "y": 4.390913963317871,
                    "z": 0.02799757942557335
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.463709831237793,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2502.418212890625,
                        "z": 365.0888671875
                    },
                    "rotation": {
                        "roll": -0.0003661954833660275,
                        "pitch": 0.34495869278907776,
                        "yaw": 90.08457946777344
                    }
                },
                "velocity": {
                    "x": -0.0050476896576583385,
                    "y": 3.4636616706848145,
                    "z": 0.01756143569946289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4483743906021118,
        "expert_target_speed": 3.3856015188838593,
        "target_point": [
            23.91056403773523,
            23.90049948810054
        ],
        "target_point_next": [
            23.91056403773523,
            23.90049948810054
        ]
    },
    "355": {
        "acceleration": [
            -2.3776674270629883,
            0.03809213638305664,
            -0.06158068776130676
        ],
        "angular_velocity": [
            -0.10549481213092804,
            0.9551510214805603,
            22.17266273498535
        ],
        "forward_vector": [
            -0.7060006260871887,
            0.7079870104789734,
            -0.01781977340579033
        ],
        "right_vector": [
            -0.7080574631690979,
            -0.7061481475830078,
            -0.003068439196795225
        ],
        "location": [
            2181.216796875,
            2521.922607421875,
            365.0890808105469
        ],
        "rotation": [
            0.17583681643009186,
            -1.0210517644882202,
            134.9195098876953
        ],
        "velocity": [
            -2.778919219970703,
            1.9784753322601318,
            -0.0725150778889656
        ],
        "speed": 3.411269070519712,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.622493743896484,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2170.92919921875,
                2527.32666015625,
                364.8795471191406
            ],
            "velocity": [
                1.2837284803390503,
                -0.002054590731859207,
                0.02430838532745838
            ],
            "speed_kmh": 4.622256909243999,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6031006574630737,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30029296875,
                        "z": 365.0093688964844
                    },
                    "rotation": {
                        "roll": 0.00039004904101602733,
                        "pitch": 0.36490967869758606,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": -0.0001809055102057755,
                    "y": -0.003843785496428609,
                    "z": -0.60308837890625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16259765625,
                        "y": 2447.58251953125,
                        "z": 364.65380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9441560506820679,
                "transform": {
                    "location": {
                        "x": 2149.089599609375,
                        "y": 2527.365234375,
                        "z": 364.74737548828125
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.19976936280727386,
                        "yaw": -0.0390319861471653
                    }
                },
                "velocity": {
                    "x": 1.9441441297531128,
                    "y": -0.0015250627184286714,
                    "z": -0.00662276241928339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3448342084884644,
                "transform": {
                    "location": {
                        "x": 2222.43505859375,
                        "y": 2524.282958984375,
                        "z": 366.1161193847656
                    },
                    "rotation": {
                        "roll": -0.0016174312913790345,
                        "pitch": -1.7194522619247437,
                        "yaw": 179.92979431152344
                    }
                },
                "velocity": {
                    "x": -1.344201683998108,
                    "y": -0.0009266965789720416,
                    "z": -0.041232023388147354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8446285724639893,
                "transform": {
                    "location": {
                        "x": 2187.8876953125,
                        "y": 2559.478271484375,
                        "z": 365.1680908203125
                    },
                    "rotation": {
                        "roll": 0.002321415115147829,
                        "pitch": 0.17910803854465485,
                        "yaw": -89.84573364257812
                    }
                },
                "velocity": {
                    "x": 0.008060488849878311,
                    "y": -3.8446078300476074,
                    "z": 0.009724387899041176
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.365330696105957,
                "transform": {
                    "location": {
                        "x": 2185.05615234375,
                        "y": 2460.11865234375,
                        "z": 364.8045349121094
                    },
                    "rotation": {
                        "roll": 0.0008384939283132553,
                        "pitch": 0.6944867372512817,
                        "yaw": 90.0849838256836
                    }
                },
                "velocity": {
                    "x": -0.006498381495475769,
                    "y": 3.365152597427368,
                    "z": 0.0340147390961647
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.25695833563804626,
                "transform": {
                    "location": {
                        "x": 2160.413818359375,
                        "y": 2527.34814453125,
                        "z": 364.7602233886719
                    },
                    "rotation": {
                        "roll": 0.00013280563871376216,
                        "pitch": 0.2730094790458679,
                        "yaw": 0.08155854046344757
                    }
                },
                "velocity": {
                    "x": 0.2569422721862793,
                    "y": -0.0019384974148124456,
                    "z": 0.002119464799761772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011618826538324356,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -0.0001203960127895698,
                    "y": 0.00010472806025063619,
                    "z": 0.001150872791185975
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.494373321533203,
                "transform": {
                    "location": {
                        "x": 2187.904541015625,
                        "y": 2547.72216796875,
                        "z": 365.1601867675781
                    },
                    "rotation": {
                        "roll": 0.0036178536247462034,
                        "pitch": 0.2245492935180664,
                        "yaw": -89.81127166748047
                    }
                },
                "velocity": {
                    "x": 0.004856529645621777,
                    "y": -2.4943671226501465,
                    "z": 0.0027141093742102385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007195651414804161,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.001996755599975586,
                        "pitch": -1.42318594455719,
                        "yaw": 179.79879760742188
                    }
                },
                "velocity": {
                    "x": -7.176637154771015e-05,
                    "y": 2.0017507267766632e-05,
                    "z": 0.0007156974752433598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.283960223197937,
                "transform": {
                    "location": {
                        "x": 2170.92919921875,
                        "y": 2527.32666015625,
                        "z": 364.8795471191406
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 1.003402590751648,
                        "yaw": -0.1609496921300888
                    }
                },
                "velocity": {
                    "x": 1.2837284803390503,
                    "y": -0.002054590731859207,
                    "z": 0.02430838532745838
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0224790573120117,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2474.74169921875,
                        "z": 364.9060974121094
                    },
                    "rotation": {
                        "roll": 0.002362517174333334,
                        "pitch": 0.5243740677833557,
                        "yaw": 90.08627319335938
                    }
                },
                "velocity": {
                    "x": -0.0008494813810102642,
                    "y": 2.022406578063965,
                    "z": 0.01709177903831005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037501947372220457,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.6114376194309443e-05,
                    "y": 1.215492346773317e-07,
                    "z": 0.0003746730799321085
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007790543022565544,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0546222256380133e-05,
                    "y": -1.49534571391996e-05,
                    "z": 0.0007788393995724618
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.447936534881592,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2489.3525390625,
                        "z": 365.0063171386719
                    },
                    "rotation": {
                        "roll": -0.0017700964817777276,
                        "pitch": 0.9110925197601318,
                        "yaw": 90.12194061279297
                    }
                },
                "velocity": {
                    "x": -0.009407099336385727,
                    "y": 5.447809219360352,
                    "z": 0.03603615611791611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.008345127105713,
                "transform": {
                    "location": {
                        "x": 2185.003173828125,
                        "y": 2503.2509765625,
                        "z": 365.0930480957031
                    },
                    "rotation": {
                        "roll": 0.00014947842282708734,
                        "pitch": 0.2427312433719635,
                        "yaw": 90.07044982910156
                    }
                },
                "velocity": {
                    "x": -0.003123027039691806,
                    "y": 3.00829815864563,
                    "z": 0.016504831612110138
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43813756108283997,
        "expert_target_speed": 3.567749665901684,
        "target_point": [
            25.17871564911511,
            21.56312877368101
        ],
        "target_point_next": [
            25.17871564911511,
            21.56312877368101
        ]
    },
    "360": {
        "acceleration": [
            -0.20180225372314453,
            -1.5175867080688477,
            0.013494044542312622
        ],
        "angular_velocity": [
            -0.2613075077533722,
            -0.18191847205162048,
            23.160234451293945
        ],
        "forward_vector": [
            -0.7735057473182678,
            0.6335679888725281,
            -0.016747763380408287
        ],
        "right_vector": [
            -0.6336459517478943,
            -0.7736226916313171,
            -0.0008242632611654699
        ],
        "location": [
            2180.473388671875,
            2522.421875,
            365.0704345703125
        ],
        "rotation": [
            0.04723343625664711,
            -0.959621012210846,
            140.6795654296875
        ],
        "velocity": [
            -3.157796621322632,
            1.8107982873916626,
            -0.072194404900074
        ],
        "speed": 3.6401469667112627,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.35414981842041,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2171.35595703125,
                2527.32568359375,
                364.8873596191406
            ],
            "velocity": [
                2.1023175716400146,
                -0.005284896586090326,
                0.038574714213609695
            ],
            "speed_kmh": 7.569641090244968,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.1502911001443863,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30029296875,
                        "z": 365.0038146972656
                    },
                    "rotation": {
                        "roll": 0.00029993406496942043,
                        "pitch": 0.36467742919921875,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": -7.055411060719052e-06,
                    "y": 0.0009653795859776437,
                    "z": 0.15028800070285797
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16162109375,
                        "y": 2448.415771484375,
                        "z": 364.6590881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8072472214698792,
                "transform": {
                    "location": {
                        "x": 2149.564697265625,
                        "y": 2527.36474609375,
                        "z": 364.7459411621094
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.23333290219306946,
                        "yaw": -0.04425048828125
                    }
                },
                "velocity": {
                    "x": 0.8072417974472046,
                    "y": -0.0008944561122916639,
                    "z": -0.002822389593347907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3178911209106445,
                "transform": {
                    "location": {
                        "x": 2221.97216796875,
                        "y": 2524.28173828125,
                        "z": 366.1020202636719
                    },
                    "rotation": {
                        "roll": -0.008209228515625,
                        "pitch": -1.6300655603408813,
                        "yaw": -179.9052276611328
                    }
                },
                "velocity": {
                    "x": -2.3168389797210693,
                    "y": -0.004054141230881214,
                    "z": -0.0697174221277237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6318060159683228,
                "transform": {
                    "location": {
                        "x": 2187.88818359375,
                        "y": 2559.094482421875,
                        "z": 365.171875
                    },
                    "rotation": {
                        "roll": 0.0014683945337310433,
                        "pitch": -0.1329086422920227,
                        "yaw": -89.8235092163086
                    }
                },
                "velocity": {
                    "x": 0.0011355893220752478,
                    "y": -0.631800651550293,
                    "z": 0.002342700958251953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7081403732299805,
                "transform": {
                    "location": {
                        "x": 2185.054443359375,
                        "y": 2461.1396484375,
                        "z": 364.81451416015625
                    },
                    "rotation": {
                        "roll": 0.001469457638449967,
                        "pitch": 0.7116646766662598,
                        "yaw": 90.09678649902344
                    }
                },
                "velocity": {
                    "x": -0.0077606746926903725,
                    "y": 4.707901954650879,
                    "z": 0.04674976319074631
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0258978605270386,
                "transform": {
                    "location": {
                        "x": 2160.57421875,
                        "y": 2527.348388671875,
                        "z": 364.7615051269531
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.21861384809017181,
                        "yaw": 0.05895169824361801
                    }
                },
                "velocity": {
                    "x": 1.0258857011795044,
                    "y": -0.0029987283051013947,
                    "z": 0.0039917659014463425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003031799860764295,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -6.712228059768677e-05,
                    "y": -3.401832145755179e-05,
                    "z": 0.00029369277763180435
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9812517166137695,
                "transform": {
                    "location": {
                        "x": 2187.90625,
                        "y": 2546.911865234375,
                        "z": 365.16107177734375
                    },
                    "rotation": {
                        "roll": 0.0018420524429529905,
                        "pitch": 0.2830840051174164,
                        "yaw": -89.8625717163086
                    }
                },
                "velocity": {
                    "x": 0.007070524152368307,
                    "y": -3.9812440872192383,
                    "z": 0.00322271347977221
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014731669216416776,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.002739095129072666,
                        "pitch": -1.422844409942627,
                        "yaw": 179.79856872558594
                    }
                },
                "velocity": {
                    "x": -5.859762313775718e-05,
                    "y": -1.6284640196317923e-06,
                    "z": -0.0001351513055851683
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1026782989501953,
                "transform": {
                    "location": {
                        "x": 2171.35595703125,
                        "y": 2527.32568359375,
                        "z": 364.8873596191406
                    },
                    "rotation": {
                        "roll": -0.0007324219914153218,
                        "pitch": 1.030730128288269,
                        "yaw": -0.14373779296875
                    }
                },
                "velocity": {
                    "x": 2.1023175716400146,
                    "y": -0.005284896586090326,
                    "z": 0.038574714213609695
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.891066312789917,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2475.329833984375,
                        "z": 364.9110107421875
                    },
                    "rotation": {
                        "roll": 0.0006470900843851268,
                        "pitch": 0.6077092289924622,
                        "yaw": 90.0707778930664
                    }
                },
                "velocity": {
                    "x": -0.0014239405281841755,
                    "y": 2.890964984893799,
                    "z": 0.024154748767614365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.033137105987407e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 4.450976575753884e-06,
                    "y": -1.3119928325977526e-06,
                    "z": -6.015265535097569e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011601906589930877,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.6318819689331576e-05,
                    "y": 2.2155534679768607e-05,
                    "z": 0.0001127087016357109
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.979154109954834,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2490.768310546875,
                        "z": 365.01617431640625
                    },
                    "rotation": {
                        "roll": -0.004943879321217537,
                        "pitch": 0.7009549736976624,
                        "yaw": 90.17332458496094
                    }
                },
                "velocity": {
                    "x": -0.012606303207576275,
                    "y": 5.9790191650390625,
                    "z": 0.038105640560388565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0886471271514893,
                "transform": {
                    "location": {
                        "x": 2185.003173828125,
                        "y": 2503.975830078125,
                        "z": 365.09686279296875
                    },
                    "rotation": {
                        "roll": 9.705125557957217e-05,
                        "pitch": 0.2870045304298401,
                        "yaw": 90.07205200195312
                    }
                },
                "velocity": {
                    "x": -0.0031193469185382128,
                    "y": 3.088610887527466,
                    "z": 0.014621924608945847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.40720975399017334,
        "expert_target_speed": 3.4053262931822093,
        "target_point": [
            26.324237441216116,
            18.842435857632786
        ],
        "target_point_next": [
            26.324237441216116,
            18.842435857632786
        ]
    },
    "365": {
        "acceleration": [
            1.7885971069335938,
            -2.3315048217773438,
            0.09285792708396912
        ],
        "angular_velocity": [
            -0.18179461359977722,
            -0.945252001285553,
            20.22391128540039
        ],
        "forward_vector": [
            -0.8301560878753662,
            0.5571608543395996,
            -0.020315321162343025
        ],
        "right_vector": [
            -0.5572476387023926,
            -0.8303447961807251,
            -0.0016282572178170085
        ],
        "location": [
            2179.736328125,
            2522.817626953125,
            365.0541076660156
        ],
        "rotation": [
            0.09331156313419342,
            -1.164062261581421,
            146.13238525390625
        ],
        "velocity": [
            -2.803713321685791,
            1.241165041923523,
            -0.060818471014499664
        ],
        "speed": 3.0661537879714045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.978416442871094,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2171.972412109375,
                2527.32421875,
                364.8985595703125
            ],
            "velocity": [
                2.804938793182373,
                -0.006958150304853916,
                0.05262060835957527
            ],
            "speed_kmh": 10.099587454545766,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 4.2543845779619005e-08,
                    "y": -9.352595781164652e-11,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3446011543273926,
                "transform": {
                    "location": {
                        "x": 2187.779541015625,
                        "y": 2576.1064453125,
                        "z": 365.0324401855469
                    },
                    "rotation": {
                        "roll": -0.017242494970560074,
                        "pitch": 0.7138298749923706,
                        "yaw": -89.8270263671875
                    }
                },
                "velocity": {
                    "x": 0.023076411336660385,
                    "y": -1.3419822454452515,
                    "z": 0.0806431770324707
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16015625,
                        "y": 2449.665771484375,
                        "z": 364.6671142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8232282996177673,
                "transform": {
                    "location": {
                        "x": 2149.685546875,
                        "y": 2527.3642578125,
                        "z": 364.74542236328125
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": -0.23239034414291382,
                        "yaw": -0.018463134765625
                    }
                },
                "velocity": {
                    "x": 0.8232237696647644,
                    "y": -0.0010289857164025307,
                    "z": -0.0025262832641601562
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.010552424937486649,
                "transform": {
                    "location": {
                        "x": 2221.540771484375,
                        "y": 2524.281005859375,
                        "z": 366.08837890625
                    },
                    "rotation": {
                        "roll": -0.014312740415334702,
                        "pitch": -2.0065524578094482,
                        "yaw": -179.74017333984375
                    }
                },
                "velocity": {
                    "x": -0.010474929586052895,
                    "y": 0.00018655131862033159,
                    "z": -0.0012628212571144104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.072324514389038,
                "transform": {
                    "location": {
                        "x": 2187.888427734375,
                        "y": 2558.714599609375,
                        "z": 365.1700744628906
                    },
                    "rotation": {
                        "roll": 0.00037966525997035205,
                        "pitch": 0.2205946147441864,
                        "yaw": -89.80484008789062
                    }
                },
                "velocity": {
                    "x": 0.004523043055087328,
                    "y": -2.0723087787628174,
                    "z": 0.00670282356441021
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.251130104064941,
                "transform": {
                    "location": {
                        "x": 2185.05322265625,
                        "y": 2462.4306640625,
                        "z": 364.8281555175781
                    },
                    "rotation": {
                        "roll": 0.0008196488488465548,
                        "pitch": 0.6509784460067749,
                        "yaw": 90.18740844726562
                    }
                },
                "velocity": {
                    "x": -0.01035961601883173,
                    "y": 5.250859260559082,
                    "z": 0.052291564643383026
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8731145858764648,
                "transform": {
                    "location": {
                        "x": 2160.9365234375,
                        "y": 2527.34765625,
                        "z": 364.76385498046875
                    },
                    "rotation": {
                        "roll": 0.00130229233764112,
                        "pitch": 0.224754199385643,
                        "yaw": 0.016380732879042625
                    }
                },
                "velocity": {
                    "x": 1.8730294704437256,
                    "y": -0.00433063181117177,
                    "z": 0.017319755628705025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012974736746400595,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -0.00015567570517305285,
                    "y": 8.941513078752905e-05,
                    "z": 0.001284993370063603
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.91457462310791,
                "transform": {
                    "location": {
                        "x": 2187.908447265625,
                        "y": 2545.754638671875,
                        "z": 365.16204833984375
                    },
                    "rotation": {
                        "roll": 0.0007702561561018229,
                        "pitch": 0.2191602736711502,
                        "yaw": -89.88899993896484
                    }
                },
                "velocity": {
                    "x": 0.007460180204361677,
                    "y": -4.914566516876221,
                    "z": 0.005146684590727091
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016181943647097796,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0013233773643150926,
                        "pitch": -1.4237391948699951,
                        "yaw": 179.79847717285156
                    }
                },
                "velocity": {
                    "x": -4.5797674829373136e-05,
                    "y": 1.5809400792932138e-05,
                    "z": -0.0001543961261631921
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.805440902709961,
                "transform": {
                    "location": {
                        "x": 2171.972412109375,
                        "y": 2527.32421875,
                        "z": 364.8985595703125
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": 1.0671554803848267,
                        "yaw": -0.1414489597082138
                    }
                },
                "velocity": {
                    "x": 2.804938793182373,
                    "y": -0.006958150304853916,
                    "z": 0.05262060835957527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.4624857902526855,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2476.263671875,
                        "z": 364.9186706542969
                    },
                    "rotation": {
                        "roll": 0.0009525977657176554,
                        "pitch": 0.7421888113021851,
                        "yaw": 90.04547119140625
                    }
                },
                "velocity": {
                    "x": -0.0013366625644266605,
                    "y": 4.4623332023620605,
                    "z": 0.03683976083993912
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00027721564401872456,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.7194970496348105e-05,
                    "y": 9.573630450177006e-06,
                    "z": 0.0002765161625575274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006749082822352648,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.122176041069906e-06,
                    "y": 2.4348730221390724e-05,
                    "z": 0.0006744199781678617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.772683620452881,
                "transform": {
                    "location": {
                        "x": 2185.017578125,
                        "y": 2492.411376953125,
                        "z": 365.0262451171875
                    },
                    "rotation": {
                        "roll": 0.00151661632116884,
                        "pitch": 0.743438720703125,
                        "yaw": 90.11841583251953
                    }
                },
                "velocity": {
                    "x": -0.010712004266679287,
                    "y": 6.772551536560059,
                    "z": 0.04093558341264725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4452946186065674,
                "transform": {
                    "location": {
                        "x": 2185.001708984375,
                        "y": 2504.855712890625,
                        "z": 365.1013488769531
                    },
                    "rotation": {
                        "roll": -0.00048827449791133404,
                        "pitch": 0.35536789894104004,
                        "yaw": 90.0648193359375
                    }
                },
                "velocity": {
                    "x": -0.004033614415675402,
                    "y": 3.445248603820801,
                    "z": 0.017362117767333984
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.33908164501190186,
        "expert_target_speed": 2.5040721043386363,
        "target_point": [
            27.163106064126108,
            16.1735159216392
        ],
        "target_point_next": [
            27.163106064126108,
            16.1735159216392
        ]
    },
    "370": {
        "acceleration": [
            2.1724843978881836,
            -1.3812816143035889,
            0.05433171987533569
        ],
        "angular_velocity": [
            0.5134541988372803,
            -0.6274581551551819,
            16.085119247436523
        ],
        "forward_vector": [
            -0.8713660836219788,
            0.4901074469089508,
            -0.02271265909075737
        ],
        "right_vector": [
            -0.4901531934738159,
            -0.8716275691986084,
            -0.0038873988669365644
        ],
        "location": [
            2179.11279296875,
            2523.08203125,
            365.04132080078125
        ],
        "rotation": [
            0.22278958559036255,
            -1.3014514446258545,
            150.64404296875
        ],
        "velocity": [
            -2.292630195617676,
            0.7990452647209167,
            -0.04795806482434273
        ],
        "speed": 2.427885200937405,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.633152961730957,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2172.766845703125,
                2527.322021484375,
                364.91302490234375
            ],
            "velocity": [
                3.4980013370513916,
                -0.008363314904272556,
                0.06557617336511612
            ],
            "speed_kmh": 12.59505341771018,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1849367618560791,
                "transform": {
                    "location": {
                        "x": 2236.944091796875,
                        "y": 2524.330322265625,
                        "z": 366.4612121582031
                    },
                    "rotation": {
                        "roll": 0.0007864034851081669,
                        "pitch": -1.7924737930297852,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.005510775838047266,
                    "y": 2.9233518944238313e-05,
                    "z": -0.1848546415567398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2494149208068848,
                "transform": {
                    "location": {
                        "x": 2187.7841796875,
                        "y": 2575.6513671875,
                        "z": 365.04547119140625
                    },
                    "rotation": {
                        "roll": -0.00418086489662528,
                        "pitch": 0.754612922668457,
                        "yaw": -89.67870330810547
                    }
                },
                "velocity": {
                    "x": 0.022459449246525764,
                    "y": -2.2490243911743164,
                    "z": 0.03538628667593002
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.159423828125,
                        "y": 2450.499267578125,
                        "z": 364.6724853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3455560207366943,
                "transform": {
                    "location": {
                        "x": 2149.963623046875,
                        "y": 2527.364501953125,
                        "z": 364.74420166015625
                    },
                    "rotation": {
                        "roll": 0.00016205899009946734,
                        "pitch": -0.20193453133106232,
                        "yaw": -0.0314330980181694
                    }
                },
                "velocity": {
                    "x": 1.3455439805984497,
                    "y": -0.001967998454347253,
                    "z": -0.005349674262106419
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0281391143798828,
                "transform": {
                    "location": {
                        "x": 2221.42333984375,
                        "y": 2524.28076171875,
                        "z": 366.0851135253906
                    },
                    "rotation": {
                        "roll": -0.010620116256177425,
                        "pitch": -1.7565332651138306,
                        "yaw": -179.741943359375
                    }
                },
                "velocity": {
                    "x": -1.0276657342910767,
                    "y": -0.0008973541553132236,
                    "z": -0.031181445345282555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.34934115409851074,
                "transform": {
                    "location": {
                        "x": 2187.89111328125,
                        "y": 2558.239990234375,
                        "z": 365.1727294921875
                    },
                    "rotation": {
                        "roll": -0.0011291535338386893,
                        "pitch": 0.08700977265834808,
                        "yaw": -89.9454574584961
                    }
                },
                "velocity": {
                    "x": 0.005549852270632982,
                    "y": -0.3492952883243561,
                    "z": 0.0011131763458251953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.611469745635986,
                "transform": {
                    "location": {
                        "x": 2185.05126953125,
                        "y": 2463.802490234375,
                        "z": 364.84173583984375
                    },
                    "rotation": {
                        "roll": 0.0012318226508796215,
                        "pitch": 0.599431037902832,
                        "yaw": 90.1791763305664
                    }
                },
                "velocity": {
                    "x": -0.011025778017938137,
                    "y": 5.611202239990234,
                    "z": 0.05365409702062607
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9213167428970337,
                "transform": {
                    "location": {
                        "x": 2161.45556640625,
                        "y": 2527.34716796875,
                        "z": 364.7678527832031
                    },
                    "rotation": {
                        "roll": 0.0006391465431079268,
                        "pitch": 0.34527286887168884,
                        "yaw": -0.02081298828125
                    }
                },
                "velocity": {
                    "x": 1.921222448348999,
                    "y": -0.004409486427903175,
                    "z": 0.01851734146475792
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008042088593356311,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -8.953452197602019e-05,
                    "y": 8.419773075729609e-05,
                    "z": 0.0007947617559693754
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.228299140930176,
                "transform": {
                    "location": {
                        "x": 2187.91015625,
                        "y": 2544.63720703125,
                        "z": 365.1629333496094
                    },
                    "rotation": {
                        "roll": 0.0008883326663635671,
                        "pitch": -0.010559472255408764,
                        "yaw": -89.90880584716797
                    }
                },
                "velocity": {
                    "x": 0.005665596574544907,
                    "y": -4.2282938957214355,
                    "z": 0.0036257647443562746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024741824017837644,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0017489378806203604,
                        "pitch": -1.4234864711761475,
                        "yaw": 179.7984161376953
                    }
                },
                "velocity": {
                    "x": -2.8028040105709806e-05,
                    "y": 3.961975744459778e-05,
                    "z": -0.000242611815338023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4986259937286377,
                "transform": {
                    "location": {
                        "x": 2172.766845703125,
                        "y": 2527.322021484375,
                        "z": 364.91302490234375
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": 1.1118385791778564,
                        "yaw": -0.1382140964269638
                    }
                },
                "velocity": {
                    "x": 3.4980013370513916,
                    "y": -0.008363314904272556,
                    "z": 0.06557617336511612
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.373513698577881,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2477.53955078125,
                        "z": 364.92926025390625
                    },
                    "rotation": {
                        "roll": -0.00030513814999721944,
                        "pitch": 0.6690648198127747,
                        "yaw": 90.04271697998047
                    }
                },
                "velocity": {
                    "x": -0.003372351173311472,
                    "y": 5.373345851898193,
                    "z": 0.042331743985414505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009799785912036896,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.2752450857078657e-05,
                    "y": -2.974369090225082e-05,
                    "z": 0.0009794441284611821
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011146094184368849,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.2043081369483843e-05,
                    "y": 2.0871371816610917e-05,
                    "z": 0.0011143488809466362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7943291664123535,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2493.86962890625,
                        "z": 365.0384216308594
                    },
                    "rotation": {
                        "roll": -0.0003356878587510437,
                        "pitch": -0.16641071438789368,
                        "yaw": 90.08814239501953
                    }
                },
                "velocity": {
                    "x": -0.005997047293931246,
                    "y": 3.794273853302002,
                    "z": 0.0195683091878891
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.81010103225708,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2505.605224609375,
                        "z": 365.1045227050781
                    },
                    "rotation": {
                        "roll": -0.0006103511550463736,
                        "pitch": 0.18239335715770721,
                        "yaw": 90.0696792602539
                    }
                },
                "velocity": {
                    "x": -0.0033005450386554003,
                    "y": 2.810070037841797,
                    "z": 0.012767648324370384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.25085511803627014,
        "expert_target_speed": 1.4907494847836325,
        "target_point": [
            27.67808533955772,
            13.911480540175909
        ],
        "target_point_next": [
            27.67808533955772,
            13.911480540175909
        ]
    },
    "375": {
        "acceleration": [
            1.5775537490844727,
            -1.1818403005599976,
            0.037854164838790894
        ],
        "angular_velocity": [
            0.04783527925610542,
            0.011613802053034306,
            13.763327598571777
        ],
        "forward_vector": [
            -0.9010779857635498,
            0.43303319811820984,
            -0.023255156353116035
        ],
        "right_vector": [
            -0.43302789330482483,
            -0.9013636112213135,
            -0.005523865111172199
        ],
        "location": [
            2178.607666015625,
            2523.253173828125,
            365.0308837890625
        ],
        "rotation": [
            0.3165813684463501,
            -1.3325425386428833,
            154.3323516845703
        ],
        "velocity": [
            -1.8341115713119507,
            0.49286481738090515,
            -0.038044724613428116
        ],
        "speed": 1.8991790290102473,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.413239479064941,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2173.619873046875,
                2527.283203125,
                364.92877197265625
            ],
            "velocity": [
                3.2466087341308594,
                -0.2726772129535675,
                0.06287919729948044
            ],
            "speed_kmh": 11.731126249117645,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3983890116214752,
                "transform": {
                    "location": {
                        "x": 2236.93798828125,
                        "y": 2524.330322265625,
                        "z": 366.52740478515625
                    },
                    "rotation": {
                        "roll": 2.8985796234337613e-05,
                        "pitch": -1.76638925075531,
                        "yaw": 179.875
                    }
                },
                "velocity": {
                    "x": -0.09731236100196838,
                    "y": -7.275883399415761e-05,
                    "z": 0.3863212466239929
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5526528358459473,
                "transform": {
                    "location": {
                        "x": 2187.791015625,
                        "y": 2574.9296875,
                        "z": 365.0523376464844
                    },
                    "rotation": {
                        "roll": -0.004699637647718191,
                        "pitch": 0.8532955050468445,
                        "yaw": -89.58126831054688
                    }
                },
                "velocity": {
                    "x": 0.03637735918164253,
                    "y": -3.5523595809936523,
                    "z": 0.02757645584642887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.157958984375,
                        "y": 2451.749267578125,
                        "z": 364.6842956542969
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.949971318244934,
                "transform": {
                    "location": {
                        "x": 2150.38134765625,
                        "y": 2527.3642578125,
                        "z": 364.74249267578125
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.1981847584247589,
                        "yaw": -0.0773315355181694
                    }
                },
                "velocity": {
                    "x": 1.9499605894088745,
                    "y": -0.002471948741003871,
                    "z": -0.005984573159366846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.993926763534546,
                "transform": {
                    "location": {
                        "x": 2221.045654296875,
                        "y": 2524.281005859375,
                        "z": 366.0740966796875
                    },
                    "rotation": {
                        "roll": -0.004913330543786287,
                        "pitch": -1.6227366924285889,
                        "yaw": -179.88211059570312
                    }
                },
                "velocity": {
                    "x": -1.9930496215820312,
                    "y": -0.0001194748911075294,
                    "z": -0.05913436785340309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0707141160964966,
                "transform": {
                    "location": {
                        "x": 2187.89111328125,
                        "y": 2558.10595703125,
                        "z": 365.17236328125
                    },
                    "rotation": {
                        "roll": 0.0007035729358904064,
                        "pitch": 0.17883484065532684,
                        "yaw": -89.94473266601562
                    }
                },
                "velocity": {
                    "x": 0.0020423466339707375,
                    "y": -1.0707104206085205,
                    "z": 0.0019240950932726264
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.930946350097656,
                "transform": {
                    "location": {
                        "x": 2185.046875,
                        "y": 2465.50830078125,
                        "z": 364.8574523925781
                    },
                    "rotation": {
                        "roll": 0.0004120511584915221,
                        "pitch": 0.6354261040687561,
                        "yaw": 90.1287841796875
                    }
                },
                "velocity": {
                    "x": -0.012538659386336803,
                    "y": 6.93061637878418,
                    "z": 0.06644965708255768
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.923353910446167,
                "transform": {
                    "location": {
                        "x": 2161.90283203125,
                        "y": 2527.34619140625,
                        "z": 364.77142333984375
                    },
                    "rotation": {
                        "roll": -3.051758903893642e-05,
                        "pitch": 0.4275834858417511,
                        "yaw": -0.036956787109375
                    }
                },
                "velocity": {
                    "x": 1.923266887664795,
                    "y": -0.004706209525465965,
                    "z": 0.017673177644610405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006865242030471563,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -9.976505680242553e-05,
                    "y": 7.893387373769656e-05,
                    "z": 0.0006746345898136497
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.156643390655518,
                "transform": {
                    "location": {
                        "x": 2187.912109375,
                        "y": 2543.56591796875,
                        "z": 365.1634216308594
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.004460113123059273,
                        "yaw": -89.92241668701172
                    }
                },
                "velocity": {
                    "x": 0.0044821398332715034,
                    "y": -4.15664005279541,
                    "z": 0.002347602741792798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020590543863363564,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0021424151491373777,
                        "pitch": -1.423213243484497,
                        "yaw": 179.7982940673828
                    }
                },
                "velocity": {
                    "x": -7.739513966953382e-05,
                    "y": -7.323853787966073e-05,
                    "z": 0.00017619068967178464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.258646249771118,
                "transform": {
                    "location": {
                        "x": 2173.619873046875,
                        "y": 2527.283203125,
                        "z": 364.92877197265625
                    },
                    "rotation": {
                        "roll": -0.013885497115552425,
                        "pitch": 1.140600562095642,
                        "yaw": -1.5390321016311646
                    }
                },
                "velocity": {
                    "x": 3.2466087341308594,
                    "y": -0.2726772129535675,
                    "z": 0.06287919729948044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.530111312866211,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2478.905029296875,
                        "z": 364.9397277832031
                    },
                    "rotation": {
                        "roll": -0.0006103669875301421,
                        "pitch": 0.5245926380157471,
                        "yaw": 90.03557586669922
                    }
                },
                "velocity": {
                    "x": -0.0037433865945786238,
                    "y": 5.529953956604004,
                    "z": 0.041526202112436295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008642261382192373,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.839348422246985e-06,
                    "y": -1.7315753211732954e-05,
                    "z": 0.0008639966254122555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4229449991253205e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.889250239008106e-06,
                    "y": 1.9219164926198573e-07,
                    "z": 2.253908860438969e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3601756691932678,
                "transform": {
                    "location": {
                        "x": 2185.015380859375,
                        "y": 2494.127197265625,
                        "z": 365.04327392578125
                    },
                    "rotation": {
                        "roll": 0.0011114937951788306,
                        "pitch": -1.0890121459960938,
                        "yaw": 90.09677124023438
                    }
                },
                "velocity": {
                    "x": -2.898862112488132e-05,
                    "y": 0.36017027497291565,
                    "z": 0.00197087274864316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.625774621963501,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2506.315185546875,
                        "z": 365.1075439453125
                    },
                    "rotation": {
                        "roll": -0.0006714031333103776,
                        "pitch": 0.1880965679883957,
                        "yaw": 90.05941772460938
                    }
                },
                "velocity": {
                    "x": -0.002845155308023095,
                    "y": 2.6257448196411133,
                    "z": 0.012167920358479023
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20603342354297638,
        "expert_target_speed": 0.5017667343538839,
        "target_point": [
            27.98625096666636,
            12.037633974792543
        ],
        "target_point_next": [
            27.98625096666636,
            12.037633974792543
        ]
    },
    "380": {
        "acceleration": [
            1.7142605781555176,
            -0.38613200187683105,
            0.0498441606760025
        ],
        "angular_velocity": [
            0.46866247057914734,
            -0.11200994998216629,
            9.5161771774292
        ],
        "forward_vector": [
            -0.9216040372848511,
            0.38745009899139404,
            -0.022986173629760742
        ],
        "right_vector": [
            -0.38740479946136475,
            -0.9218862652778625,
            -0.006573155056685209
        ],
        "location": [
            2178.209228515625,
            2523.36181640625,
            365.02264404296875
        ],
        "rotation": [
            0.3767163157463074,
            -1.317126750946045,
            157.1977081298828
        ],
        "velocity": [
            -1.4182652235031128,
            0.3118925392627716,
            -0.029086288064718246
        ],
        "speed": 1.4521546750419234,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.41953182220459,
        "front_vehicle_info": {
            "id": 5085,
            "type": "vehicle.ford.mustang",
            "location": [
                2174.408447265625,
                2527.224365234375,
                364.9445495605469
            ],
            "velocity": [
                3.101820707321167,
                -0.28588390350341797,
                0.06352006644010544
            ],
            "speed_kmh": 11.216213582450239,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7315300703048706,
                "transform": {
                    "location": {
                        "x": 2236.823486328125,
                        "y": 2524.32861328125,
                        "z": 366.5779724121094
                    },
                    "rotation": {
                        "roll": -0.007507324684411287,
                        "pitch": -1.6195061206817627,
                        "yaw": 179.88531494140625
                    }
                },
                "velocity": {
                    "x": -0.730698823928833,
                    "y": -0.010762776248157024,
                    "z": 0.03316199406981468
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.883023262023926,
                "transform": {
                    "location": {
                        "x": 2187.8017578125,
                        "y": 2573.86474609375,
                        "z": 365.059326171875
                    },
                    "rotation": {
                        "roll": -0.004028418567031622,
                        "pitch": 0.9278743267059326,
                        "yaw": -89.48938751220703
                    }
                },
                "velocity": {
                    "x": 0.05180516093969345,
                    "y": -4.882655143737793,
                    "z": 0.03014768473803997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.156982421875,
                        "y": 2452.58251953125,
                        "z": 364.693115234375
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7683093547821045,
                "transform": {
                    "location": {
                        "x": 2150.849853515625,
                        "y": 2527.36328125,
                        "z": 364.74163818359375
                    },
                    "rotation": {
                        "roll": 0.0007958483183756471,
                        "pitch": -0.20751479268074036,
                        "yaw": -0.0888976976275444
                    }
                },
                "velocity": {
                    "x": 0.768307089805603,
                    "y": -0.0011295523727312684,
                    "z": -0.0015132807893678546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.127824544906616,
                "transform": {
                    "location": {
                        "x": 2220.4775390625,
                        "y": 2524.28125,
                        "z": 366.0570983886719
                    },
                    "rotation": {
                        "roll": -5.213237480594657e-11,
                        "pitch": -1.6710466146469116,
                        "yaw": 179.9490966796875
                    }
                },
                "velocity": {
                    "x": -2.126899003982544,
                    "y": -0.0006836511311121285,
                    "z": -0.062746562063694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.866843581199646,
                "transform": {
                    "location": {
                        "x": 2187.89111328125,
                        "y": 2557.7431640625,
                        "z": 365.1728820800781
                    },
                    "rotation": {
                        "roll": 0.0010774194961413741,
                        "pitch": 0.254711389541626,
                        "yaw": -89.9438705444336
                    }
                },
                "velocity": {
                    "x": 0.004053713753819466,
                    "y": -1.866829752922058,
                    "z": 0.005918512120842934
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.526675224304199,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2467.174560546875,
                        "z": 364.8739318847656
                    },
                    "rotation": {
                        "roll": 0.0017215441912412643,
                        "pitch": 0.5158089995384216,
                        "yaw": 90.10101318359375
                    }
                },
                "velocity": {
                    "x": -0.009621981531381607,
                    "y": 6.526386737823486,
                    "z": 0.06065662205219269
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6958417892456055,
                "transform": {
                    "location": {
                        "x": 2162.4794921875,
                        "y": 2527.34521484375,
                        "z": 364.77667236328125
                    },
                    "rotation": {
                        "roll": 0.00028564402600750327,
                        "pitch": 0.42320531606674194,
                        "yaw": -0.0648193284869194
                    }
                },
                "velocity": {
                    "x": 2.695716142654419,
                    "y": -0.0066423797979950905,
                    "z": 0.025148095563054085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007154734339565039,
                "transform": {
                    "location": {
                        "x": 2210.561767578125,
                        "y": 2524.290283203125,
                        "z": 365.7762451171875
                    },
                    "rotation": {
                        "roll": 0.0093082832172513,
                        "pitch": -1.546416163444519,
                        "yaw": 179.52755737304688
                    }
                },
                "velocity": {
                    "x": -5.726962990593165e-05,
                    "y": -1.260258250113111e-05,
                    "z": 0.0007130663725547493
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.046377182006836,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2542.561767578125,
                        "z": 365.163818359375
                    },
                    "rotation": {
                        "roll": 0.0003592281718738377,
                        "pitch": 0.008380641229450703,
                        "yaw": -89.92765808105469
                    }
                },
                "velocity": {
                    "x": 0.0038313460536301136,
                    "y": -4.046374797821045,
                    "z": 0.002054529031738639
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021240297064650804,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0016306902980431914,
                        "pitch": -1.4234591722488403,
                        "yaw": 179.79823303222656
                    }
                },
                "velocity": {
                    "x": -6.674409087281674e-05,
                    "y": 4.811023609363474e-05,
                    "z": -0.00019582045206334442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.115615129470825,
                "transform": {
                    "location": {
                        "x": 2174.408447265625,
                        "y": 2527.224365234375,
                        "z": 364.9445495605469
                    },
                    "rotation": {
                        "roll": -0.0506591722369194,
                        "pitch": 1.1352729797363281,
                        "yaw": -2.874053955078125
                    }
                },
                "velocity": {
                    "x": 3.101820707321167,
                    "y": -0.28588390350341797,
                    "z": 0.06352006644010544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068477630615234,
                "transform": {
                    "location": {
                        "x": 2185.026611328125,
                        "y": 2480.678955078125,
                        "z": 364.9531555175781
                    },
                    "rotation": {
                        "roll": 0.0006433567032217979,
                        "pitch": 0.814233660697937,
                        "yaw": 90.02730560302734
                    }
                },
                "velocity": {
                    "x": -0.003984224982559681,
                    "y": 8.068254470825195,
                    "z": 0.05979278311133385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009482020395807922,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 8.626356247987133e-06,
                    "y": 3.2005416869651526e-05,
                    "z": 0.0009476224659010768
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005120065761730075,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 3.071319224545732e-05,
                    "y": -1.6299340131809004e-05,
                    "z": 0.0005108245532028377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4003485441207886,
                "transform": {
                    "location": {
                        "x": 2185.015380859375,
                        "y": 2494.385498046875,
                        "z": 365.04046630859375
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": 0.09278811514377594,
                        "yaw": 90.0937728881836
                    }
                },
                "velocity": {
                    "x": -0.0027634459547698498,
                    "y": 1.400309681892395,
                    "z": 0.010067596100270748
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2610557079315186,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2506.93408203125,
                        "z": 365.110107421875
                    },
                    "rotation": {
                        "roll": 0.0002577003906480968,
                        "pitch": 0.14512784779071808,
                        "yaw": 90.06749725341797
                    }
                },
                "velocity": {
                    "x": -0.002359533915296197,
                    "y": 2.2610347270965576,
                    "z": 0.00943396519869566
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.22886580228805542,
        "expert_target_speed": 0.0,
        "target_point": [
            28.143606350722195,
            10.56931926252403
        ],
        "target_point_next": [
            28.143606350722195,
            10.56931926252403
        ]
    },
    "385": {
        "acceleration": [
            0.9632444381713867,
            -0.641140341758728,
            0.029089637100696564
        ],
        "angular_velocity": [
            -0.24308636784553528,
            0.27985602617263794,
            7.8757147789001465
        ],
        "forward_vector": [
            -0.935472846031189,
            0.35268622636795044,
            -0.022426748648285866
        ],
        "right_vector": [
            -0.3526211678981781,
            -0.93574059009552,
            -0.006922466214746237
        ],
        "location": [
            2177.900634765625,
            2523.429931640625,
            365.01617431640625
        ],
        "rotation": [
            0.39673104882240295,
            -1.2850658893585205,
            159.34286499023438
        ],
        "velocity": [
            -1.1003683805465698,
            0.18407268822193146,
            -0.022508997470140457
        ],
        "speed": 1.1156582485044106,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.81393575668335,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.582615852355957,
                "transform": {
                    "location": {
                        "x": 2236.550537109375,
                        "y": 2524.326416015625,
                        "z": 366.5613708496094
                    },
                    "rotation": {
                        "roll": -0.0032043452374637127,
                        "pitch": -1.5769950151443481,
                        "yaw": 179.9881591796875
                    }
                },
                "velocity": {
                    "x": -1.5786612033843994,
                    "y": -0.010242787189781666,
                    "z": -0.11133965849876404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.529518127441406,
                "transform": {
                    "location": {
                        "x": 2187.81591796875,
                        "y": 2572.5244140625,
                        "z": 365.0682373046875
                    },
                    "rotation": {
                        "roll": -2.6682915432729715e-08,
                        "pitch": 0.7828147411346436,
                        "yaw": -89.47491455078125
                    }
                },
                "velocity": {
                    "x": 0.05907842516899109,
                    "y": -5.5291056632995605,
                    "z": 0.032744426280260086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.83251953125,
                        "z": 364.7064514160156
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8035848736763,
                "transform": {
                    "location": {
                        "x": 2150.96630859375,
                        "y": 2527.363525390625,
                        "z": 364.74139404296875
                    },
                    "rotation": {
                        "roll": 0.0006069482769817114,
                        "pitch": -0.19857408106327057,
                        "yaw": -0.0895080417394638
                    }
                },
                "velocity": {
                    "x": 0.8035809397697449,
                    "y": -0.0011093193897977471,
                    "z": -0.0022654819767922163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0021252611186355352,
                "transform": {
                    "location": {
                        "x": 2220.328125,
                        "y": 2524.28125,
                        "z": 366.0523376464844
                    },
                    "rotation": {
                        "roll": 0.002336390083655715,
                        "pitch": -1.9474165439605713,
                        "yaw": 179.8448944091797
                    }
                },
                "velocity": {
                    "x": 0.002026655711233616,
                    "y": 0.00017444908735342324,
                    "z": 0.0006156043382361531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.031956672668457,
                "transform": {
                    "location": {
                        "x": 2187.892333984375,
                        "y": 2557.134521484375,
                        "z": 365.17431640625
                    },
                    "rotation": {
                        "roll": -0.0001525873231003061,
                        "pitch": 0.29164907336235046,
                        "yaw": -89.92926788330078
                    }
                },
                "velocity": {
                    "x": 0.005880436860024929,
                    "y": -3.0319435596466064,
                    "z": 0.006751889828592539
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.695450782775879,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2468.424072265625,
                        "z": 364.8876953125
                    },
                    "rotation": {
                        "roll": 0.0005860730307176709,
                        "pitch": 0.21645551919937134,
                        "yaw": 90.08733367919922
                    }
                },
                "velocity": {
                    "x": -0.003915827255696058,
                    "y": 2.6953420639038086,
                    "z": 0.02388305589556694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.723991870880127,
                "transform": {
                    "location": {
                        "x": 2163.28271484375,
                        "y": 2527.34326171875,
                        "z": 364.7835998535156
                    },
                    "rotation": {
                        "roll": 0.00045205754577182233,
                        "pitch": 0.4836251735687256,
                        "yaw": -0.087890625
                    }
                },
                "velocity": {
                    "x": 3.7238237857818604,
                    "y": -0.008902400732040405,
                    "z": 0.03424577787518501
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.32688450813293457,
                "transform": {
                    "location": {
                        "x": 2210.536865234375,
                        "y": 2524.290283203125,
                        "z": 365.7756652832031
                    },
                    "rotation": {
                        "roll": 0.008189419284462929,
                        "pitch": -1.4953606128692627,
                        "yaw": 179.54425048828125
                    }
                },
                "velocity": {
                    "x": -0.3267723023891449,
                    "y": 0.0015280457446351647,
                    "z": -0.008427085354924202
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6930198669433594,
                "transform": {
                    "location": {
                        "x": 2187.915283203125,
                        "y": 2541.595947265625,
                        "z": 365.163818359375
                    },
                    "rotation": {
                        "roll": 0.0006656901095993817,
                        "pitch": -0.037108413875103,
                        "yaw": -89.93663024902344
                    }
                },
                "velocity": {
                    "x": 0.0028975876048207283,
                    "y": -3.6930184364318848,
                    "z": 0.0012361430563032627
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007947054109536111,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0016306902980431914,
                        "pitch": -1.4234591722488403,
                        "yaw": 179.79823303222656
                    }
                },
                "velocity": {
                    "x": -1.641884409764316e-05,
                    "y": -5.2206192776793614e-05,
                    "z": -0.0007928187842480838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9626026153564453,
                "transform": {
                    "location": {
                        "x": 2175.166259765625,
                        "y": 2527.160888671875,
                        "z": 364.959716796875
                    },
                    "rotation": {
                        "roll": -0.07107541710138321,
                        "pitch": 1.1335381269454956,
                        "yaw": -3.777649402618408
                    }
                },
                "velocity": {
                    "x": 2.948601245880127,
                    "y": -0.28143593668937683,
                    "z": 0.059647347778081894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.25855016708374,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2482.62890625,
                        "z": 364.9675598144531
                    },
                    "rotation": {
                        "roll": -0.0014343057991936803,
                        "pitch": 0.3878591060638428,
                        "yaw": 90.05034637451172
                    }
                },
                "velocity": {
                    "x": -0.006094431970268488,
                    "y": 7.258359909057617,
                    "z": 0.052178628742694855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00028312471113167703,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -2.2206454275419674e-07,
                    "y": -6.755699814675609e-06,
                    "z": 0.0002830440062098205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001339765585726127,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.3138560209190473e-05,
                    "y": -1.246480906047509e-06,
                    "z": -0.00013195746578276157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.356745481491089,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2494.861083984375,
                        "z": 365.041748046875
                    },
                    "rotation": {
                        "roll": 0.000442248274339363,
                        "pitch": 0.5483890175819397,
                        "yaw": 90.10074615478516
                    }
                },
                "velocity": {
                    "x": -0.004250149242579937,
                    "y": 2.3566932678222656,
                    "z": 0.015110816806554794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9431631565093994,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2507.44189453125,
                        "z": 365.11224365234375
                    },
                    "rotation": {
                        "roll": 0.0009302353137172759,
                        "pitch": 0.1282368004322052,
                        "yaw": 90.0604476928711
                    }
                },
                "velocity": {
                    "x": -0.0019825731869786978,
                    "y": 1.9431405067443848,
                    "z": 0.009184875525534153
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20559844374656677,
        "expert_target_speed": 0.0,
        "target_point": [
            28.20672610774602,
            9.463325280143243
        ],
        "target_point_next": [
            28.20672610774602,
            9.463325280143243
        ]
    },
    "390": {
        "acceleration": [
            0.3408568799495697,
            0.10594736784696579,
            -0.0012565834913402796
        ],
        "angular_velocity": [
            0.2123946249485016,
            -0.9523887038230896,
            -0.0051580616272985935
        ],
        "forward_vector": [
            -0.9423076510429382,
            0.33375224471092224,
            -0.025802606716752052
        ],
        "right_vector": [
            -0.33360999822616577,
            -0.9426606297492981,
            -0.009761359542608261
        ],
        "location": [
            2177.7353515625,
            2523.4619140625,
            365.0135192871094
        ],
        "rotation": [
            0.5594798922538757,
            -1.4785445928573608,
            160.49656677246094
        ],
        "velocity": [
            -0.003577006282284856,
            -0.0028301978018134832,
            -0.0006950818351469934
        ],
        "speed": 0.004561249120679027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.645685195922852,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9314725399017334,
                "transform": {
                    "location": {
                        "x": 2236.00390625,
                        "y": 2524.32373046875,
                        "z": 366.5339660644531
                    },
                    "rotation": {
                        "roll": -0.01092529296875,
                        "pitch": -1.4693853855133057,
                        "yaw": -179.90599060058594
                    }
                },
                "velocity": {
                    "x": -2.929591417312622,
                    "y": -0.019754750654101372,
                    "z": -0.10312291979789734
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.953149318695068,
                "transform": {
                    "location": {
                        "x": 2187.83251953125,
                        "y": 2571.01220703125,
                        "z": 365.0762939453125
                    },
                    "rotation": {
                        "roll": -0.00024412627681158483,
                        "pitch": 0.8534935712814331,
                        "yaw": -89.441650390625
                    }
                },
                "velocity": {
                    "x": 0.07553497701883316,
                    "y": -6.952639102935791,
                    "z": 0.037241753190755844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.013561420142650604,
                "transform": {
                    "location": {
                        "x": 2185.155517578125,
                        "y": 2454.249267578125,
                        "z": 364.7084045410156
                    },
                    "rotation": {
                        "roll": -9.157243766821921e-05,
                        "pitch": 0.6116570830345154,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 6.448656495194882e-05,
                    "y": -8.74633333296515e-05,
                    "z": -0.013560985215008259
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3421106338500977,
                "transform": {
                    "location": {
                        "x": 2151.2353515625,
                        "y": 2527.36376953125,
                        "z": 364.74041748046875
                    },
                    "rotation": {
                        "roll": 0.00039342130185104907,
                        "pitch": -0.15090619027614594,
                        "yaw": -0.1876525729894638
                    }
                },
                "velocity": {
                    "x": 1.3421069383621216,
                    "y": -0.002685003913938999,
                    "z": -0.0017055796924978495
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014245047932490706,
                "transform": {
                    "location": {
                        "x": 2220.326416015625,
                        "y": 2524.28125,
                        "z": 366.052490234375
                    },
                    "rotation": {
                        "roll": 0.000688303611241281,
                        "pitch": -1.7748655080795288,
                        "yaw": 179.84483337402344
                    }
                },
                "velocity": {
                    "x": 0.0006555896834470332,
                    "y": -0.00017006538109853864,
                    "z": 0.0012531934771686792
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.399869441986084,
                "transform": {
                    "location": {
                        "x": 2187.894287109375,
                        "y": 2556.196044921875,
                        "z": 365.1766662597656
                    },
                    "rotation": {
                        "roll": -0.0003356844827067107,
                        "pitch": 0.3036496937274933,
                        "yaw": -89.92089080810547
                    }
                },
                "velocity": {
                    "x": 0.008370421826839447,
                    "y": -4.399848937988281,
                    "z": 0.010389870963990688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7975118160247803,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2468.64013671875,
                        "z": 364.8893737792969
                    },
                    "rotation": {
                        "roll": -0.0003356965316925198,
                        "pitch": 0.2588914632797241,
                        "yaw": 90.10414123535156
                    }
                },
                "velocity": {
                    "x": -0.002398960292339325,
                    "y": 0.7974826097488403,
                    "z": 0.006388530600816011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.768037796020508,
                "transform": {
                    "location": {
                        "x": 2164.357177734375,
                        "y": 2527.34130859375,
                        "z": 364.7938537597656
                    },
                    "rotation": {
                        "roll": 0.0014968621544539928,
                        "pitch": 0.5392297506332397,
                        "yaw": -0.1037902683019638
                    }
                },
                "velocity": {
                    "x": 4.767730236053467,
                    "y": -0.01127379760146141,
                    "z": 0.05295518785715103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4373153448104858,
                "transform": {
                    "location": {
                        "x": 2210.316162109375,
                        "y": 2524.290771484375,
                        "z": 365.7698059082031
                    },
                    "rotation": {
                        "roll": 0.004771518521010876,
                        "pitch": -1.3557720184326172,
                        "yaw": 179.60986328125
                    }
                },
                "velocity": {
                    "x": -1.43678617477417,
                    "y": 0.004650901537388563,
                    "z": -0.03872225061058998
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5159826278686523,
                "transform": {
                    "location": {
                        "x": 2187.90625,
                        "y": 2540.668212890625,
                        "z": 365.1639099121094
                    },
                    "rotation": {
                        "roll": 0.05882700905203819,
                        "pitch": -0.042511094361543655,
                        "yaw": -90.40780639648438
                    }
                },
                "velocity": {
                    "x": -0.12839709222316742,
                    "y": -3.513637065887451,
                    "z": 0.0011749458499252796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00032285411725752056,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0016306902980431914,
                        "pitch": -1.4234591722488403,
                        "yaw": 179.79823303222656
                    }
                },
                "velocity": {
                    "x": -9.432777733309194e-05,
                    "y": -7.763718713249546e-06,
                    "z": 0.00030866937595419586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5085,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8430073261260986,
                "transform": {
                    "location": {
                        "x": 2175.88720703125,
                        "y": 2527.09619140625,
                        "z": 364.9740295410156
                    },
                    "rotation": {
                        "roll": -0.0900268480181694,
                        "pitch": 1.1356828212738037,
                        "yaw": -4.38925313949585
                    }
                },
                "velocity": {
                    "x": 2.8287606239318848,
                    "y": -0.2786291539669037,
                    "z": 0.05631320923566818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.025885820388794,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2483.88525390625,
                        "z": 364.9759216308594
                    },
                    "rotation": {
                        "roll": 0.0009538383455947042,
                        "pitch": -0.4269755780696869,
                        "yaw": 89.81800079345703
                    }
                },
                "velocity": {
                    "x": -0.008003822527825832,
                    "y": 2.025829315185547,
                    "z": 0.012867126613855362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00038114681956358254,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 2.0277424482628703e-05,
                    "y": 1.563752448419109e-05,
                    "z": 0.00038028566632419825
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007435965235345066,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7203092284034938e-05,
                    "y": -1.3701095667784102e-05,
                    "z": 0.0007432712591253221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7362704277038574,
                "transform": {
                    "location": {
                        "x": 2185.013427734375,
                        "y": 2495.625,
                        "z": 365.04541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.82072913646698,
                        "yaw": 90.0980224609375
                    }
                },
                "velocity": {
                    "x": -0.006411039736121893,
                    "y": 3.736198663711548,
                    "z": 0.022225407883524895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.048835039138794,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2507.98046875,
                        "z": 365.11456298828125
                    },
                    "rotation": {
                        "roll": 0.0006755117792636156,
                        "pitch": 0.18395064771175385,
                        "yaw": 90.05937957763672
                    }
                },
                "velocity": {
                    "x": -0.0018316003261134028,
                    "y": 2.048819065093994,
                    "z": 0.007878598757088184
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.21082095801830292,
        "expert_target_speed": 0.0,
        "target_point": [
            28.22507027647916,
            8.868443390026728
        ],
        "target_point_next": [
            28.22507027647916,
            8.868443390026728
        ]
    },
    "395": {
        "acceleration": [
            -0.007788012735545635,
            -0.003918635193258524,
            -0.005959663540124893
        ],
        "angular_velocity": [
            -0.08984632790088654,
            0.922544538974762,
            0.0026867121923714876
        ],
        "forward_vector": [
            -0.9423926472663879,
            0.33373481035232544,
            -0.02274245396256447
        ],
        "right_vector": [
            -0.33363038301467896,
            -0.9426669478416443,
            -0.008352686651051044
        ],
        "location": [
            2177.7333984375,
            2523.4619140625,
            365.0128173828125
        ],
        "rotation": [
            0.4787030518054962,
            -1.3031589984893799,
            160.49913024902344
        ],
        "velocity": [
            0.0031111978460103273,
            0.0010088941780850291,
            -0.0008016166393645108
        ],
        "speed": 0.0032706909819781456,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.643742561340332,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.12592864036560059,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7318420410156
                    },
                    "rotation": {
                        "roll": 0.0006442132289521396,
                        "pitch": -0.21826551854610443,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.00048581763985566795,
                    "y": 6.683900210191496e-06,
                    "z": 0.12592770159244537
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.894307613372803,
                "transform": {
                    "location": {
                        "x": 2235.029296875,
                        "y": 2524.318115234375,
                        "z": 366.5036315917969
                    },
                    "rotation": {
                        "roll": -0.01797485165297985,
                        "pitch": -1.3194900751113892,
                        "yaw": -179.78211975097656
                    }
                },
                "velocity": {
                    "x": -4.892189025878906,
                    "y": -0.034654293209314346,
                    "z": -0.13976378738880157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.785546779632568,
                "transform": {
                    "location": {
                        "x": 2187.845947265625,
                        "y": 2569.25146484375,
                        "z": 365.08685302734375
                    },
                    "rotation": {
                        "roll": 0.020311478525400162,
                        "pitch": 0.5312793850898743,
                        "yaw": -89.5384521484375
                    }
                },
                "velocity": {
                    "x": 0.04618997126817703,
                    "y": -6.785294532775879,
                    "z": 0.03592151403427124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005064883269369602,
                "transform": {
                    "location": {
                        "x": 2185.155517578125,
                        "y": 2454.249267578125,
                        "z": 364.7063903808594
                    },
                    "rotation": {
                        "roll": 0.00032864214153960347,
                        "pitch": 0.6215745210647583,
                        "yaw": 90.06041717529297
                    }
                },
                "velocity": {
                    "x": -0.0002724973310250789,
                    "y": -7.163345435401425e-05,
                    "z": -0.005057040136307478
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9486091136932373,
                "transform": {
                    "location": {
                        "x": 2151.6474609375,
                        "y": 2527.36279296875,
                        "z": 364.73931884765625
                    },
                    "rotation": {
                        "roll": 7.388269295915961e-05,
                        "pitch": -0.1232917383313179,
                        "yaw": -0.1858520209789276
                    }
                },
                "velocity": {
                    "x": 1.9486042261123657,
                    "y": -0.003494356293231249,
                    "z": -0.002617101650685072
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006551264086738229,
                "transform": {
                    "location": {
                        "x": 2220.326171875,
                        "y": 2524.28125,
                        "z": 366.0525817871094
                    },
                    "rotation": {
                        "roll": 0.0014811435248702765,
                        "pitch": -1.7347040176391602,
                        "yaw": 179.84471130371094
                    }
                },
                "velocity": {
                    "x": 0.00016123354726005346,
                    "y": -0.00016106234397739172,
                    "z": 0.0006142094498500228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.238396644592285,
                "transform": {
                    "location": {
                        "x": 2187.896240234375,
                        "y": 2554.945556640625,
                        "z": 365.1806945800781
                    },
                    "rotation": {
                        "roll": 0.00033524271566420794,
                        "pitch": 0.24906283617019653,
                        "yaw": -89.9178695678711
                    }
                },
                "velocity": {
                    "x": 0.007556928787380457,
                    "y": -5.238375663757324,
                    "z": 0.012696857564151287
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9590227603912354,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2469.00830078125,
                        "z": 364.8899230957031
                    },
                    "rotation": {
                        "roll": -0.0009460533619858325,
                        "pitch": 0.5619059801101685,
                        "yaw": 90.07485961914062
                    }
                },
                "velocity": {
                    "x": -0.0028410074301064014,
                    "y": 1.9589309692382812,
                    "z": 0.01875312812626362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.947113513946533,
                "transform": {
                    "location": {
                        "x": 2165.454833984375,
                        "y": 2527.3388671875,
                        "z": 364.8050231933594
                    },
                    "rotation": {
                        "roll": 0.0006857452099211514,
                        "pitch": 0.6777049899101257,
                        "yaw": -0.1141662746667862
                    }
                },
                "velocity": {
                    "x": 3.946850538253784,
                    "y": -0.009432571940124035,
                    "z": 0.04458028823137283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9980578422546387,
                "transform": {
                    "location": {
                        "x": 2209.834228515625,
                        "y": 2524.29248046875,
                        "z": 365.75689697265625
                    },
                    "rotation": {
                        "roll": 0.003975521307438612,
                        "pitch": -1.3898955583572388,
                        "yaw": 179.66673278808594
                    }
                },
                "velocity": {
                    "x": -1.9973270893096924,
                    "y": 0.0060231625102460384,
                    "z": -0.05369584262371063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2130632400512695,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2539.959228515625,
                        "z": 365.1637268066406
                    },
                    "rotation": {
                        "roll": 0.018538950011134148,
                        "pitch": -0.18542596697807312,
                        "yaw": -91.39201354980469
                    }
                },
                "velocity": {
                    "x": -0.10912705212831497,
                    "y": -2.2103710174560547,
                    "z": 0.0010297679109498858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003787139430642128,
                "transform": {
                    "location": {
                        "x": 2200.40869140625,
                        "y": 2524.308837890625,
                        "z": 365.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0016306902980431914,
                        "pitch": -1.4234591722488403,
                        "yaw": 179.79823303222656
                    }
                },
                "velocity": {
                    "x": -5.263179264147766e-05,
                    "y": -1.3936612958787009e-05,
                    "z": -0.0003747798327822238
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6934710741043091,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2484.0,
                        "z": 364.9768981933594
                    },
                    "rotation": {
                        "roll": 0.003768405644223094,
                        "pitch": -0.03524377569556236,
                        "yaw": 89.7972183227539
                    }
                },
                "velocity": {
                    "x": -0.0009118845337070525,
                    "y": 0.6934474110603333,
                    "z": 0.005654086824506521
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002098284021485597,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.712631456030067e-05,
                    "y": -1.584484925842844e-05,
                    "z": 0.00020852718444075435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.806447345297784e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.1783242371166125e-05,
                    "y": -3.673763558253995e-06,
                    "z": 6.693602335872129e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.769522666931152,
                "transform": {
                    "location": {
                        "x": 2185.011474609375,
                        "y": 2496.72216796875,
                        "z": 365.0516662597656
                    },
                    "rotation": {
                        "roll": 3.8584294088650495e-05,
                        "pitch": 0.8652483224868774,
                        "yaw": 90.09308624267578
                    }
                },
                "velocity": {
                    "x": -0.006586388684809208,
                    "y": 4.7694478034973145,
                    "z": 0.025916041806340218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7249192595481873,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.11572265625,
                        "z": 365.1149597167969
                    },
                    "rotation": {
                        "roll": 0.0005195914418436587,
                        "pitch": 0.04318045452237129,
                        "yaw": 90.01432037353516
                    }
                },
                "velocity": {
                    "x": -0.0007281358120962977,
                    "y": 0.7249159216880798,
                    "z": 0.0020660494919866323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20753400027751923,
        "expert_target_speed": 0.0,
        "target_point": [
            28.223626668594434,
            8.866526263784722
        ],
        "target_point_next": [
            28.223626668594434,
            8.866526263784722
        ]
    },
    "400": {
        "acceleration": [
            -0.006391506176441908,
            8.812989108264446e-05,
            0.0022634128108620644
        ],
        "angular_velocity": [
            -0.03578459471464157,
            0.3143257796764374,
            0.00039084654417820275
        ],
        "forward_vector": [
            -0.9424495100975037,
            0.3337235748767853,
            -0.020434623584151268
        ],
        "right_vector": [
            -0.33364272117614746,
            -0.942671000957489,
            -0.007347677834331989
        ],
        "location": [
            2177.732177734375,
            2523.461669921875,
            365.01226806640625
        ],
        "rotation": [
            0.42108264565467834,
            -1.1708992719650269,
            160.50082397460938
        ],
        "velocity": [
            0.001019224408082664,
            0.0003255787305533886,
            -0.00012999186583328992
        ],
        "speed": 0.0010699625712239718,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.642563343048096,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13824304938316345,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.78466796875
                    },
                    "rotation": {
                        "roll": 0.0010418713791295886,
                        "pitch": -0.21771226823329926,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0005343680968508124,
                    "y": -2.217336259491276e-05,
                    "z": 0.13824200630187988
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.638284206390381,
                "transform": {
                    "location": {
                        "x": 2233.681396484375,
                        "y": 2524.30908203125,
                        "z": 366.4658508300781
                    },
                    "rotation": {
                        "roll": -0.01702880859375,
                        "pitch": -1.4914195537567139,
                        "yaw": -179.66409301757812
                    }
                },
                "velocity": {
                    "x": -5.6355814933776855,
                    "y": -0.04206326976418495,
                    "z": -0.16940930485725403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4159600734710693,
                "transform": {
                    "location": {
                        "x": 2187.8544921875,
                        "y": 2567.98095703125,
                        "z": 365.0976867675781
                    },
                    "rotation": {
                        "roll": 0.003944172523915768,
                        "pitch": -0.7052648067474365,
                        "yaw": -89.55010223388672
                    }
                },
                "velocity": {
                    "x": 0.01643633283674717,
                    "y": -2.415884017944336,
                    "z": 0.009846401400864124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002105959691107273,
                "transform": {
                    "location": {
                        "x": 2185.155517578125,
                        "y": 2454.249267578125,
                        "z": 364.7059326171875
                    },
                    "rotation": {
                        "roll": 0.0006924516055732965,
                        "pitch": 0.6252149939537048,
                        "yaw": 90.06041717529297
                    }
                },
                "velocity": {
                    "x": -0.00029980382532812655,
                    "y": -1.0937004844890907e-05,
                    "z": -0.0020844817627221346
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4597513675689697,
                "transform": {
                    "location": {
                        "x": 2152.20068359375,
                        "y": 2527.363037109375,
                        "z": 364.7380676269531
                    },
                    "rotation": {
                        "roll": 0.00033281531068496406,
                        "pitch": -0.09271298348903656,
                        "yaw": -0.329833984375
                    }
                },
                "velocity": {
                    "x": 2.459743022918701,
                    "y": -0.004788971971720457,
                    "z": -0.004255990963429213
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3346676826477051,
                "transform": {
                    "location": {
                        "x": 2220.2978515625,
                        "y": 2524.28125,
                        "z": 366.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0012035856489092112,
                        "pitch": -1.6799532175064087,
                        "yaw": 179.83506774902344
                    }
                },
                "velocity": {
                    "x": -0.33452653884887695,
                    "y": 9.867758308246266e-06,
                    "z": -0.00971855130046606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.657956600189209,
                "transform": {
                    "location": {
                        "x": 2187.8984375,
                        "y": 2553.5869140625,
                        "z": 365.1843566894531
                    },
                    "rotation": {
                        "roll": -0.00030517898267135024,
                        "pitch": 0.1867646872997284,
                        "yaw": -89.93023681640625
                    }
                },
                "velocity": {
                    "x": 0.007546854671090841,
                    "y": -5.657936096191406,
                    "z": 0.013067369349300861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1037728786468506,
                "transform": {
                    "location": {
                        "x": 2185.0419921875,
                        "y": 2469.6337890625,
                        "z": 364.89495849609375
                    },
                    "rotation": {
                        "roll": 0.0017212546663358808,
                        "pitch": 0.6190746426582336,
                        "yaw": 90.06861114501953
                    }
                },
                "velocity": {
                    "x": -0.003738326020538807,
                    "y": 3.1036579608917236,
                    "z": 0.02645789086818695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.6005659103393555,
                "transform": {
                    "location": {
                        "x": 2166.50390625,
                        "y": 2527.336669921875,
                        "z": 364.8191833496094
                    },
                    "rotation": {
                        "roll": 0.0002900958643294871,
                        "pitch": 0.6608071327209473,
                        "yaw": -0.1200561374425888
                    }
                },
                "velocity": {
                    "x": 4.599994659423828,
                    "y": -0.011326021514832973,
                    "z": 0.07160640507936478
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00353300292044878,
                "transform": {
                    "location": {
                        "x": 2209.766357421875,
                        "y": 2524.29248046875,
                        "z": 365.7550354003906
                    },
                    "rotation": {
                        "roll": 0.007024212274700403,
                        "pitch": -1.757072925567627,
                        "yaw": 179.67298889160156
                    }
                },
                "velocity": {
                    "x": 0.0034340389538556337,
                    "y": -0.0004549057921394706,
                    "z": -0.0006946551729924977
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0031858435831964016,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.825927734375,
                        "z": 365.16357421875
                    },
                    "rotation": {
                        "roll": -0.011169441044330597,
                        "pitch": -0.3075565695762634,
                        "yaw": -91.50274658203125
                    }
                },
                "velocity": {
                    "x": 0.00022701809939462692,
                    "y": 0.002952024806290865,
                    "z": 0.0011762703070417047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.46119368076324463,
                "transform": {
                    "location": {
                        "x": 2200.361572265625,
                        "y": 2524.308837890625,
                        "z": 365.5108947753906
                    },
                    "rotation": {
                        "roll": 0.0022431733086705208,
                        "pitch": -1.370327115058899,
                        "yaw": 179.7993621826172
                    }
                },
                "velocity": {
                    "x": -0.46106019616127014,
                    "y": 0.000977968447841704,
                    "z": -0.011052235960960388
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0066325664520264,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2484.3525390625,
                        "z": 364.9796142578125
                    },
                    "rotation": {
                        "roll": -0.0016784569015726447,
                        "pitch": 0.5285746455192566,
                        "yaw": 89.78836059570312
                    }
                },
                "velocity": {
                    "x": 0.001978927757591009,
                    "y": 2.0065770149230957,
                    "z": 0.014803447760641575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018309506413061172,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -3.2779200864752056e-06,
                    "y": 2.287266033818014e-05,
                    "z": 0.00018163121421821415
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.455730676651001,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2497.756103515625,
                        "z": 365.0596923828125
                    },
                    "rotation": {
                        "roll": 0.0008878105436451733,
                        "pitch": 0.21149680018424988,
                        "yaw": 90.08274841308594
                    }
                },
                "velocity": {
                    "x": -0.004380453377962112,
                    "y": 3.4556703567504883,
                    "z": 0.019916972145438194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1081894636154175,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.423583984375,
                        "z": 365.1159362792969
                    },
                    "rotation": {
                        "roll": -0.0008850107551552355,
                        "pitch": 0.2398010939359665,
                        "yaw": 90.23545837402344
                    }
                },
                "velocity": {
                    "x": 0.0007671866333112121,
                    "y": 1.108184576034546,
                    "z": 0.00321649550460279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2066834270954132,
        "expert_target_speed": 0.0,
        "target_point": [
            28.222819586345555,
            8.86505425900637
        ],
        "target_point_next": [
            28.222819586345555,
            8.86505425900637
        ]
    },
    "405": {
        "acceleration": [
            -0.0019762753508985043,
            -0.0018340535461902618,
            0.003618341637775302
        ],
        "angular_velocity": [
            -0.02788732387125492,
            0.14555208384990692,
            -0.0004060693900100887
        ],
        "forward_vector": [
            -0.9424623847007751,
            0.3337233364582062,
            -0.01983381249010563
        ],
        "right_vector": [
            -0.33364927768707275,
            -0.9426710605621338,
            -0.007030370179563761
        ],
        "location": [
            2177.731689453125,
            2523.461669921875,
            365.01214599609375
        ],
        "rotation": [
            0.4028930962085724,
            -1.1364682912826538,
            160.50108337402344
        ],
        "velocity": [
            0.0004400625766720623,
            0.00017038494115695357,
            0.00012673393939621747
        ],
        "speed": 0.0004718962805112085,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.642078876495361,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9293608665466309,
                "transform": {
                    "location": {
                        "x": 2136.041748046875,
                        "y": 2527.302978515625,
                        "z": 364.7977600097656
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.1940934807062149,
                        "yaw": -0.09991455078125
                    }
                },
                "velocity": {
                    "x": 0.9292864799499512,
                    "y": 0.010653134435415268,
                    "z": 0.0049768066965043545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4900929927825928,
                "transform": {
                    "location": {
                        "x": 2232.776611328125,
                        "y": 2524.302734375,
                        "z": 366.44586181640625
                    },
                    "rotation": {
                        "roll": -0.01361083984375,
                        "pitch": -2.4817490577697754,
                        "yaw": -179.6302490234375
                    }
                },
                "velocity": {
                    "x": -1.4892613887786865,
                    "y": -0.01166008785367012,
                    "z": -0.04838848486542702
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.695243775844574,
                "transform": {
                    "location": {
                        "x": 2187.85546875,
                        "y": 2567.841796875,
                        "z": 365.09881591796875
                    },
                    "rotation": {
                        "roll": 0.0012396121164783835,
                        "pitch": -0.8805206418037415,
                        "yaw": -89.55499267578125
                    }
                },
                "velocity": {
                    "x": 0.005196824669837952,
                    "y": -0.6952137351036072,
                    "z": 0.0038460539653897285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3493744134902954,
                "transform": {
                    "location": {
                        "x": 2185.1533203125,
                        "y": 2454.4384765625,
                        "z": 364.7065124511719
                    },
                    "rotation": {
                        "roll": -0.012878403067588806,
                        "pitch": 0.9693677425384521,
                        "yaw": 90.17772674560547
                    }
                },
                "velocity": {
                    "x": -0.018171314150094986,
                    "y": 1.3491764068603516,
                    "z": 0.014284620061516762
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.031903028488159,
                "transform": {
                    "location": {
                        "x": 2152.890625,
                        "y": 2527.362060546875,
                        "z": 364.73626708984375
                    },
                    "rotation": {
                        "roll": 0.0001466175017412752,
                        "pitch": -0.05417022854089737,
                        "yaw": -0.3538818061351776
                    }
                },
                "velocity": {
                    "x": 3.0318901538848877,
                    "y": -0.0066344039514660835,
                    "z": -0.005818700883537531
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2323877811431885,
                "transform": {
                    "location": {
                        "x": 2220.100830078125,
                        "y": 2524.281494140625,
                        "z": 366.0460510253906
                    },
                    "rotation": {
                        "roll": 2.9597462344099768e-05,
                        "pitch": -1.5883467197418213,
                        "yaw": 179.84353637695312
                    }
                },
                "velocity": {
                    "x": -1.231872320175171,
                    "y": 0.0008483882993459702,
                    "z": -0.03562910482287407
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.0022735595703125,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2551.97314453125,
                        "z": 365.1871337890625
                    },
                    "rotation": {
                        "roll": 9.366262383991852e-05,
                        "pitch": 0.26338574290275574,
                        "yaw": -89.92529296875
                    }
                },
                "velocity": {
                    "x": 0.008913869969546795,
                    "y": -7.002255916595459,
                    "z": 0.012911338359117508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.4480767250061035,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2470.5869140625,
                        "z": 364.9031066894531
                    },
                    "rotation": {
                        "roll": 0.0026720776222646236,
                        "pitch": 0.6396540403366089,
                        "yaw": 90.06990051269531
                    }
                },
                "velocity": {
                    "x": -0.005427750758826733,
                    "y": 4.447909355163574,
                    "z": 0.038204144686460495
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.234752655029297,
                "transform": {
                    "location": {
                        "x": 2167.644775390625,
                        "y": 2527.333984375,
                        "z": 364.83551025390625
                    },
                    "rotation": {
                        "roll": 0.0001678361149970442,
                        "pitch": 0.8516630530357361,
                        "yaw": -0.1260376274585724
                    }
                },
                "velocity": {
                    "x": 4.234221935272217,
                    "y": -0.011606711894273758,
                    "z": 0.06602577120065689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014491237234324217,
                "transform": {
                    "location": {
                        "x": 2209.764892578125,
                        "y": 2524.29248046875,
                        "z": 365.7550354003906
                    },
                    "rotation": {
                        "roll": 0.006178893148899078,
                        "pitch": -1.5901157855987549,
                        "yaw": 179.67294311523438
                    }
                },
                "velocity": {
                    "x": 0.001065626973286271,
                    "y": -0.00020164213492535055,
                    "z": -0.0009611134883016348
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001649725018069148,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.82470703125,
                        "z": 365.1639099121094
                    },
                    "rotation": {
                        "roll": -0.0024108930956572294,
                        "pitch": -0.09231682866811752,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": -5.641799361910671e-05,
                    "y": 0.0008374038734473288,
                    "z": 0.0014202691381797194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4536322355270386,
                "transform": {
                    "location": {
                        "x": 2200.119873046875,
                        "y": 2524.31005859375,
                        "z": 365.5050354003906
                    },
                    "rotation": {
                        "roll": 0.003822691272944212,
                        "pitch": -1.2928454875946045,
                        "yaw": 179.73670959472656
                    }
                },
                "velocity": {
                    "x": -1.4532012939453125,
                    "y": 0.004277617670595646,
                    "z": -0.035132817924022675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5889449715614319,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2484.84326171875,
                        "z": 364.98297119140625
                    },
                    "rotation": {
                        "roll": -0.0003051872772630304,
                        "pitch": 0.2640482783317566,
                        "yaw": 89.71428680419922
                    }
                },
                "velocity": {
                    "x": -0.0019491136772558093,
                    "y": 0.588925302028656,
                    "z": 0.0043967245146632195
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037781012360937893,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.34171541503747e-05,
                    "y": 1.2002193216176238e-05,
                    "z": 0.0003773809876292944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001323264790698886,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.2330263416515663e-05,
                    "y": -1.4675300917588174e-05,
                    "z": 0.0013231259072199464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9891064167022705,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2498.43798828125,
                        "z": 365.06488037109375
                    },
                    "rotation": {
                        "roll": 0.0011458080261945724,
                        "pitch": -0.1488366425037384,
                        "yaw": 90.09638214111328
                    }
                },
                "velocity": {
                    "x": -0.004044443368911743,
                    "y": 1.989068865776062,
                    "z": 0.011525077745318413
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1153416633605957,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.567626953125,
                        "z": 365.1164245605469
                    },
                    "rotation": {
                        "roll": -0.0010681255953386426,
                        "pitch": 0.22323788702487946,
                        "yaw": 90.24320983886719
                    }
                },
                "velocity": {
                    "x": -0.0019554535392671824,
                    "y": 1.1153361797332764,
                    "z": 0.0029020975343883038
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2073318362236023,
        "expert_target_speed": 0.0,
        "target_point": [
            28.22239735349162,
            8.864770156886369
        ],
        "target_point_next": [
            28.22239735349162,
            8.864770156886369
        ]
    },
    "410": {
        "acceleration": [
            0.0011246324284002185,
            0.0014359761262312531,
            0.00348769873380661
        ],
        "angular_velocity": [
            -0.027150552719831467,
            0.04316616803407669,
            -0.000870364427100867
        ],
        "forward_vector": [
            -0.9424678683280945,
            0.3337230384349823,
            -0.01957625336945057
        ],
        "right_vector": [
            -0.3336516320705414,
            -0.9426711797714233,
            -0.0069032651372253895
        ],
        "location": [
            2177.7314453125,
            2523.461669921875,
            365.0120544433594
        ],
        "rotation": [
            0.3956069052219391,
            -1.1217082738876343,
            160.50120544433594
        ],
        "velocity": [
            9.378105460200459e-05,
            6.195413152454421e-05,
            -7.256111712194979e-05
        ],
        "speed": 0.00011239751160601683,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641836166381836,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6303657293319702,
                "transform": {
                    "location": {
                        "x": 2136.3759765625,
                        "y": 2527.30517578125,
                        "z": 364.7961730957031
                    },
                    "rotation": {
                        "roll": -0.00225830078125,
                        "pitch": -0.18851320445537567,
                        "yaw": 0.08267681300640106
                    }
                },
                "velocity": {
                    "x": 1.6302192211151123,
                    "y": 0.019329216331243515,
                    "z": -0.010210981592535973
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08827362954616547,
                "transform": {
                    "location": {
                        "x": 2232.73779296875,
                        "y": 2524.302490234375,
                        "z": 366.4441223144531
                    },
                    "rotation": {
                        "roll": -0.01382446102797985,
                        "pitch": -2.4655137062072754,
                        "yaw": -179.63540649414062
                    }
                },
                "velocity": {
                    "x": -0.08820994198322296,
                    "y": -0.0006735565839335322,
                    "z": -0.0032842063810676336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.583952784538269,
                "transform": {
                    "location": {
                        "x": 2187.857666015625,
                        "y": 2567.537841796875,
                        "z": 365.0966796875
                    },
                    "rotation": {
                        "roll": 0.005054932553321123,
                        "pitch": 0.1570260375738144,
                        "yaw": -89.57776641845703
                    }
                },
                "velocity": {
                    "x": 0.009741370566189289,
                    "y": -1.5839065313339233,
                    "z": 0.007174873258918524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2295889854431152,
                "transform": {
                    "location": {
                        "x": 2185.147705078125,
                        "y": 2454.878662109375,
                        "z": 364.7110595703125
                    },
                    "rotation": {
                        "roll": -0.010040287859737873,
                        "pitch": 1.0113186836242676,
                        "yaw": 90.32386779785156
                    }
                },
                "velocity": {
                    "x": -0.031179441139101982,
                    "y": 2.2292449474334717,
                    "z": 0.02370261214673519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6364986896514893,
                "transform": {
                    "location": {
                        "x": 2153.72265625,
                        "y": 2527.359375,
                        "z": 364.7346496582031
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.02040860429406166,
                        "yaw": -0.284423828125
                    }
                },
                "velocity": {
                    "x": 3.636488199234009,
                    "y": -0.007882640697062016,
                    "z": -0.003706645919010043
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5116539001464844,
                "transform": {
                    "location": {
                        "x": 2219.703125,
                        "y": 2524.281982421875,
                        "z": 366.0341796875
                    },
                    "rotation": {
                        "roll": 0.001269462751224637,
                        "pitch": -1.6339383125305176,
                        "yaw": 179.85487365722656
                    }
                },
                "velocity": {
                    "x": -1.5110009908676147,
                    "y": 0.0016590257873758674,
                    "z": -0.044393934309482574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.079508304595947,
                "transform": {
                    "location": {
                        "x": 2187.902099609375,
                        "y": 2550.4306640625,
                        "z": 365.19268798828125
                    },
                    "rotation": {
                        "roll": 0.0004113060131203383,
                        "pitch": -0.09383996576070786,
                        "yaw": -89.92649841308594
                    }
                },
                "velocity": {
                    "x": 0.005417489446699619,
                    "y": -4.079504489898682,
                    "z": 0.002119207289069891
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.29915189743042,
                "transform": {
                    "location": {
                        "x": 2185.0380859375,
                        "y": 2471.84423828125,
                        "z": 364.9147033691406
                    },
                    "rotation": {
                        "roll": 0.0007498136255890131,
                        "pitch": 0.59454745054245,
                        "yaw": 90.0327377319336
                    }
                },
                "velocity": {
                    "x": -0.006353861652314663,
                    "y": 5.2989630699157715,
                    "z": 0.04425413906574249
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.254196643829346,
                "transform": {
                    "location": {
                        "x": 2168.69287109375,
                        "y": 2527.33154296875,
                        "z": 364.8505859375
                    },
                    "rotation": {
                        "roll": 0.0006768135353922844,
                        "pitch": 0.9613763689994812,
                        "yaw": -0.128326416015625
                    }
                },
                "velocity": {
                    "x": 4.253707408905029,
                    "y": -0.009655892848968506,
                    "z": 0.06379609555006027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022242758132051677,
                "transform": {
                    "location": {
                        "x": 2209.764404296875,
                        "y": 2524.29248046875,
                        "z": 365.7550354003906
                    },
                    "rotation": {
                        "roll": 0.005055571440607309,
                        "pitch": -1.554721713066101,
                        "yaw": 179.67286682128906
                    }
                },
                "velocity": {
                    "x": 1.3681351447303314e-05,
                    "y": 1.975478335225489e-05,
                    "z": 0.00022112575243227184
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018887560872826725,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.82421875,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.0005493167554959655,
                        "pitch": -0.04226520657539368,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": 0.00012737121141981333,
                    "y": 0.0001393912680214271,
                    "z": -4.543797786027426e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4518918991088867,
                "transform": {
                    "location": {
                        "x": 2199.616943359375,
                        "y": 2524.311279296875,
                        "z": 365.4926452636719
                    },
                    "rotation": {
                        "roll": 0.0012928306823596358,
                        "pitch": -1.2726349830627441,
                        "yaw": 179.8037872314453
                    }
                },
                "velocity": {
                    "x": -2.451141357421875,
                    "y": 0.00628205481916666,
                    "z": -0.060332611203193665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2621949911117554,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2485.002685546875,
                        "z": 364.984130859375
                    },
                    "rotation": {
                        "roll": -0.0033569280058145523,
                        "pitch": 0.4201180934906006,
                        "yaw": 89.6923828125
                    }
                },
                "velocity": {
                    "x": 0.001732155797071755,
                    "y": 1.2621755599975586,
                    "z": 0.006777667906135321
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021796995133627206,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.0107084563060198e-05,
                    "y": 6.008251148159616e-06,
                    "z": 0.0002176525886170566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.464560232823715e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.297785825561732e-06,
                    "y": 1.2865774806414265e-05,
                    "z": -8.324960799654946e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007356209680438042,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2498.500244140625,
                        "z": 365.06634521484375
                    },
                    "rotation": {
                        "roll": -0.00012206664541736245,
                        "pitch": -0.4461069405078888,
                        "yaw": 90.14073181152344
                    }
                },
                "velocity": {
                    "x": -0.00011309526598779485,
                    "y": -0.007322990335524082,
                    "z": -0.0006890883087180555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016936803003773093,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60302734375,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.0015563942724838853,
                        "pitch": 0.08299362659454346,
                        "yaw": 90.33866119384766
                    }
                },
                "velocity": {
                    "x": -0.0003468801733106375,
                    "y": -0.0016416938742622733,
                    "z": -0.0002303653018316254
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2036924809217453,
        "expert_target_speed": 0.0,
        "target_point": [
            28.22218834983638,
            8.86462137855282
        ],
        "target_point_next": [
            28.22218834983638,
            8.86462137855282
        ]
    },
    "415": {
        "acceleration": [
            -0.0012086331844329834,
            0.0014508835738524795,
            -0.0025231228210031986
        ],
        "angular_velocity": [
            -0.004638952203094959,
            0.013959680683910847,
            -0.00034522844362072647
        ],
        "forward_vector": [
            -0.9424704909324646,
            0.3337254524230957,
            -0.019406767562031746
        ],
        "right_vector": [
            -0.3336559236049652,
            -0.9426703453063965,
            -0.006812688894569874
        ],
        "location": [
            2177.7314453125,
            2523.461669921875,
            365.01202392578125
        ],
        "rotation": [
            0.39041486382484436,
            -1.1119956970214844,
            160.50112915039062
        ],
        "velocity": [
            6.148517059045844e-06,
            -4.199016530037625e-06,
            -0.0003394033992663026
        ],
        "speed": 7.44553569898815e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641835689544678,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.20308518409729,
                "transform": {
                    "location": {
                        "x": 2136.85986328125,
                        "y": 2527.3095703125,
                        "z": 364.7939758300781
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": -0.19827355444431305,
                        "yaw": 0.22574616968631744
                    }
                },
                "velocity": {
                    "x": 2.2028870582580566,
                    "y": 0.027796931564807892,
                    "z": -0.010050944983959198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8315367698669434,
                "transform": {
                    "location": {
                        "x": 2232.624755859375,
                        "y": 2524.3017578125,
                        "z": 366.43359375
                    },
                    "rotation": {
                        "roll": -0.01702881045639515,
                        "pitch": -1.5752259492874146,
                        "yaw": -179.6361846923828
                    }
                },
                "velocity": {
                    "x": -0.8311402797698975,
                    "y": -0.006617431063205004,
                    "z": -0.02480776235461235
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6112895011901855,
                "transform": {
                    "location": {
                        "x": 2187.86083984375,
                        "y": 2567.0126953125,
                        "z": 365.09759521484375
                    },
                    "rotation": {
                        "roll": 0.004532728809863329,
                        "pitch": 0.5441064834594727,
                        "yaw": -89.60778045654297
                    }
                },
                "velocity": {
                    "x": 0.01521412655711174,
                    "y": -2.6112184524536133,
                    "z": 0.011796645820140839
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5474138259887695,
                "transform": {
                    "location": {
                        "x": 2185.13818359375,
                        "y": 2455.59765625,
                        "z": 364.71820068359375
                    },
                    "rotation": {
                        "roll": -0.009521477855741978,
                        "pitch": 1.1290780305862427,
                        "yaw": 90.51326751708984
                    }
                },
                "velocity": {
                    "x": -0.05210701376199722,
                    "y": 3.5468273162841797,
                    "z": 0.038027573376894
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.499106407165527,
                "transform": {
                    "location": {
                        "x": 2154.739990234375,
                        "y": 2527.35693359375,
                        "z": 364.73382568359375
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.019561661407351494,
                        "yaw": -0.2062683254480362
                    }
                },
                "velocity": {
                    "x": 4.4990973472595215,
                    "y": -0.00883509125560522,
                    "z": -0.002303018467500806
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001473624142818153,
                "transform": {
                    "location": {
                        "x": 2219.63037109375,
                        "y": 2524.281982421875,
                        "z": 366.03173828125
                    },
                    "rotation": {
                        "roll": 0.0023999649565666914,
                        "pitch": -1.8298622369766235,
                        "yaw": 179.83023071289062
                    }
                },
                "velocity": {
                    "x": 0.0014039520174264908,
                    "y": 0.0004463029035832733,
                    "z": 3.606237441999838e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0024851805064827204,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.1337890625,
                        "z": 365.1949462890625
                    },
                    "rotation": {
                        "roll": 6.93702168064192e-05,
                        "pitch": -0.32416075468063354,
                        "yaw": -89.92681121826172
                    }
                },
                "velocity": {
                    "x": 6.578630973308464e-07,
                    "y": 0.001968841999769211,
                    "z": 0.0015165033983066678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.4348506927490234,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2473.091552734375,
                        "z": 364.92669677734375
                    },
                    "rotation": {
                        "roll": -0.0010986588895320892,
                        "pitch": 0.392080157995224,
                        "yaw": 89.73359680175781
                    }
                },
                "velocity": {
                    "x": -0.012970811687409878,
                    "y": 3.4347243309020996,
                    "z": 0.026468515396118164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.821312189102173,
                "transform": {
                    "location": {
                        "x": 2169.693115234375,
                        "y": 2527.32958984375,
                        "z": 364.86676025390625
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 1.0057590007781982,
                        "yaw": -0.1336364895105362
                    }
                },
                "velocity": {
                    "x": 3.8207545280456543,
                    "y": -0.008772870525717735,
                    "z": 0.06468266993761063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.306445449590683,
                "transform": {
                    "location": {
                        "x": 2209.745849609375,
                        "y": 2524.29248046875,
                        "z": 365.7545471191406
                    },
                    "rotation": {
                        "roll": 0.005182335618883371,
                        "pitch": -1.5046701431274414,
                        "yaw": 179.6827392578125
                    }
                },
                "velocity": {
                    "x": -0.30633699893951416,
                    "y": 0.0009443598100915551,
                    "z": -0.008096560835838318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013570340524893254,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.823974609375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.029540566727519035,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": -2.410091838100925e-05,
                    "y": 0.00010826408833963796,
                    "z": -7.818853919161484e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6780807971954346,
                "transform": {
                    "location": {
                        "x": 2198.829833984375,
                        "y": 2524.3134765625,
                        "z": 365.47320556640625
                    },
                    "rotation": {
                        "roll": -0.0010375978890806437,
                        "pitch": -1.2349255084991455,
                        "yaw": 179.84130859375
                    }
                },
                "velocity": {
                    "x": -3.6769213676452637,
                    "y": 0.008631388656795025,
                    "z": -0.09194310754537582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.5735716819763184,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2485.48388671875,
                        "z": 364.9874267578125
                    },
                    "rotation": {
                        "roll": -0.0039673419669270515,
                        "pitch": 0.6168821454048157,
                        "yaw": 89.79065704345703
                    }
                },
                "velocity": {
                    "x": 0.0009509245865046978,
                    "y": 2.573512554168701,
                    "z": 0.01743362471461296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00061082246247679,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 6.539560672536027e-06,
                    "y": -2.7837868401547894e-05,
                    "z": 0.0006101527251303196
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009149651741608977,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.302459147875197e-06,
                    "y": -8.41953806229867e-06,
                    "z": 0.0009148791432380676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.003970095422118902,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2498.50341796875,
                        "z": 365.0645751953125
                    },
                    "rotation": {
                        "roll": 0.0008019619854167104,
                        "pitch": 0.02827015146613121,
                        "yaw": 90.1406478881836
                    }
                },
                "velocity": {
                    "x": 2.7990179660264403e-05,
                    "y": -0.003967460710555315,
                    "z": 0.0001418669562553987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022709027689415962,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.603759765625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": 0.00029037753120064735,
                        "pitch": 0.15882238745689392,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": 1.857646566350013e-06,
                    "y": -0.0002235264691989869,
                    "z": -4.003071444458328e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20608820021152496,
        "expert_target_speed": 0.0,
        "target_point": [
            28.222175668864903,
            8.864661750708024
        ],
        "target_point_next": [
            28.222175668864903,
            8.864661750708024
        ]
    },
    "420": {
        "acceleration": [
            0.00039109581848606467,
            0.0023194055538624525,
            0.0037365311291068792
        ],
        "angular_velocity": [
            -0.010128342546522617,
            0.0031890729442238808,
            -0.0004353903641458601
        ],
        "forward_vector": [
            -0.9424711465835571,
            0.3337264358997345,
            -0.01935778371989727
        ],
        "right_vector": [
            -0.33365774154663086,
            -0.9426699280738831,
            -0.0067718555219471455
        ],
        "location": [
            2177.7314453125,
            2523.461669921875,
            365.01202392578125
        ],
        "rotation": [
            0.38807442784309387,
            -1.1091885566711426,
            160.50108337402344
        ],
        "velocity": [
            -3.08273738482967e-05,
            1.7556305465404876e-05,
            -0.0002075084048556164
        ],
        "speed": 3.5476060096595456e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641835689544678,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.752347469329834,
                "transform": {
                    "location": {
                        "x": 2137.48193359375,
                        "y": 2527.316162109375,
                        "z": 364.79156494140625
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.1990043818950653,
                        "yaw": 0.37996408343315125
                    }
                },
                "velocity": {
                    "x": 2.75209903717041,
                    "y": 0.03569646552205086,
                    "z": -0.009666385129094124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.703900933265686,
                "transform": {
                    "location": {
                        "x": 2232.322509765625,
                        "y": 2524.298583984375,
                        "z": 366.4235534667969
                    },
                    "rotation": {
                        "roll": -0.014129637740552425,
                        "pitch": -1.467247486114502,
                        "yaw": -179.68038940429688
                    }
                },
                "velocity": {
                    "x": -1.7030677795410156,
                    "y": -0.013480931520462036,
                    "z": -0.05154227092862129
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.0069098472595215,
                "transform": {
                    "location": {
                        "x": 2187.865478515625,
                        "y": 2566.17919921875,
                        "z": 365.10052490234375
                    },
                    "rotation": {
                        "roll": 0.003282546764239669,
                        "pitch": 0.767091691493988,
                        "yaw": -89.63396453857422
                    }
                },
                "velocity": {
                    "x": 0.022696809843182564,
                    "y": -4.006804466247559,
                    "z": 0.018155669793486595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.310772657394409,
                "transform": {
                    "location": {
                        "x": 2185.1259765625,
                        "y": 2456.507080078125,
                        "z": 364.72894287109375
                    },
                    "rotation": {
                        "roll": 0.012051168829202652,
                        "pitch": 0.8247316479682922,
                        "yaw": 90.63814544677734
                    }
                },
                "velocity": {
                    "x": -0.030643591657280922,
                    "y": 3.3104448318481445,
                    "z": 0.03507284075021744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.230180740356445,
                "transform": {
                    "location": {
                        "x": 2155.983154296875,
                        "y": 2527.354248046875,
                        "z": 364.7341613769531
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": 0.021105283871293068,
                        "yaw": -0.1520385891199112
                    }
                },
                "velocity": {
                    "x": 5.230149269104004,
                    "y": -0.009367989376187325,
                    "z": 0.015472239814698696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010462825885042548,
                "transform": {
                    "location": {
                        "x": 2219.62939453125,
                        "y": 2524.281982421875,
                        "z": 366.0318603515625
                    },
                    "rotation": {
                        "roll": 0.0006790437619201839,
                        "pitch": -1.722559928894043,
                        "yaw": 179.8301239013672
                    }
                },
                "velocity": {
                    "x": 0.0003464791225269437,
                    "y": -6.912188837304711e-05,
                    "z": 0.0009848256595432758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012408627662807703,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.1318359375,
                        "z": 365.19232177734375
                    },
                    "rotation": {
                        "roll": 0.0008455593488179147,
                        "pitch": -0.01010184921324253,
                        "yaw": -89.92684936523438
                    }
                },
                "velocity": {
                    "x": 6.442087760660797e-05,
                    "y": 0.00081535434583202,
                    "z": 0.0009331600740551949
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5004423260688782,
                "transform": {
                    "location": {
                        "x": 2185.03076171875,
                        "y": 2473.3134765625,
                        "z": 364.9302673339844
                    },
                    "rotation": {
                        "roll": 0.004226302728056908,
                        "pitch": 0.19059641659259796,
                        "yaw": 89.62472534179688
                    }
                },
                "velocity": {
                    "x": 0.00012685688852798194,
                    "y": 0.5004050135612488,
                    "z": 0.0061077880673110485
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6721065044403076,
                "transform": {
                    "location": {
                        "x": 2170.51318359375,
                        "y": 2527.32763671875,
                        "z": 364.8803405761719
                    },
                    "rotation": {
                        "roll": 1.8448091623213259e-06,
                        "pitch": 1.0611039400100708,
                        "yaw": -0.12652587890625
                    }
                },
                "velocity": {
                    "x": 2.6717162132263184,
                    "y": -0.007230190094560385,
                    "z": 0.045091018080711365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.210317850112915,
                "transform": {
                    "location": {
                        "x": 2209.564453125,
                        "y": 2524.29296875,
                        "z": 365.7497253417969
                    },
                    "rotation": {
                        "roll": 0.0037824055179953575,
                        "pitch": -1.3879694938659668,
                        "yaw": 179.67445373535156
                    }
                },
                "velocity": {
                    "x": -1.2098886966705322,
                    "y": 0.003008834319189191,
                    "z": -0.03208756074309349
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020774666336365044,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.823974609375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.029540566727519035,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": -5.35928993485868e-05,
                    "y": 3.1795767426956445e-05,
                    "z": -0.00019818049622699618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.919820547103882,
                "transform": {
                    "location": {
                        "x": 2198.003662109375,
                        "y": 2524.315185546875,
                        "z": 365.45263671875
                    },
                    "rotation": {
                        "roll": -6.103538180468604e-05,
                        "pitch": -1.457541823387146,
                        "yaw": 179.85487365722656
                    }
                },
                "velocity": {
                    "x": -2.9189257621765137,
                    "y": 0.006335088051855564,
                    "z": -0.0719982460141182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.197171211242676,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2486.342041015625,
                        "z": 364.9933166503906
                    },
                    "rotation": {
                        "roll": -0.005950953811407089,
                        "pitch": 0.7008593082427979,
                        "yaw": 89.88563537597656
                    }
                },
                "velocity": {
                    "x": -0.00030507060000672936,
                    "y": 4.197078704833984,
                    "z": 0.02785010263323784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00039352159365080297,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.7451867506679264e-06,
                    "y": 2.1570165699813515e-05,
                    "z": 0.00039292610017582774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00037126633105799556,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.086264819605276e-05,
                    "y": 1.6361391317332163e-05,
                    "z": 0.0003707465366460383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0013452669372782111,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2498.50439453125,
                        "z": 365.0638732910156
                    },
                    "rotation": {
                        "roll": 0.00014050012396182865,
                        "pitch": 0.2170155942440033,
                        "yaw": 90.14066314697266
                    }
                },
                "velocity": {
                    "x": -5.652727486449294e-05,
                    "y": -0.0013362850295379758,
                    "z": 0.00014453459880314767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00020522091654129326,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.603759765625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": 0.0009352599736303091,
                        "pitch": 0.1749962717294693,
                        "yaw": 90.33866882324219
                    }
                },
                "velocity": {
                    "x": 8.408374560531229e-05,
                    "y": -0.0001275520771741867,
                    "z": 0.00013702560681849718
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20599845051765442,
        "expert_target_speed": 0.0,
        "target_point": [
            28.222167214851837,
            8.86468866546808
        ],
        "target_point_next": [
            28.222167214851837,
            8.86468866546808
        ]
    },
    "425": {
        "acceleration": [
            -0.0006182075012475252,
            -0.0011654369300231338,
            -0.0042187124490737915
        ],
        "angular_velocity": [
            0.013230280950665474,
            -0.005940341390669346,
            2.8364418540149927e-05
        ],
        "forward_vector": [
            -0.9424711465835571,
            0.3337264358997345,
            -0.01935778371989727
        ],
        "right_vector": [
            -0.33365774154663086,
            -0.9426699280738831,
            -0.0067718555219471455
        ],
        "location": [
            2177.7314453125,
            2523.461669921875,
            365.01202392578125
        ],
        "rotation": [
            0.38807442784309387,
            -1.1091885566711426,
            160.50108337402344
        ],
        "velocity": [
            -5.572676673182286e-05,
            -6.106209184508771e-05,
            -0.0004749283834826201
        ],
        "speed": 8.266832277771774e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641835689544678,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3730556964874268,
                "transform": {
                    "location": {
                        "x": 2138.248046875,
                        "y": 2527.322998046875,
                        "z": 364.7886657714844
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.19793887436389923,
                        "yaw": 0.44353291392326355
                    }
                },
                "velocity": {
                    "x": 3.37296724319458,
                    "y": 0.021590564399957657,
                    "z": -0.011450080201029778
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5922837257385254,
                "transform": {
                    "location": {
                        "x": 2231.73193359375,
                        "y": 2524.294677734375,
                        "z": 366.40576171875
                    },
                    "rotation": {
                        "roll": -0.01794433407485485,
                        "pitch": -1.506589412689209,
                        "yaw": -179.59381103515625
                    }
                },
                "velocity": {
                    "x": -2.5909903049468994,
                    "y": -0.021143397316336632,
                    "z": -0.07909960299730301
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.306480884552002,
                "transform": {
                    "location": {
                        "x": 2187.870361328125,
                        "y": 2565.0078125,
                        "z": 365.1059265136719
                    },
                    "rotation": {
                        "roll": 0.011816817335784435,
                        "pitch": 0.8177989721298218,
                        "yaw": -89.70986938476562
                    }
                },
                "velocity": {
                    "x": 0.019096769392490387,
                    "y": -5.3063812255859375,
                    "z": 0.026351317763328552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0458805561065674,
                "transform": {
                    "location": {
                        "x": 2185.119140625,
                        "y": 2457.264404296875,
                        "z": 364.7378845214844
                    },
                    "rotation": {
                        "roll": 0.015506391413509846,
                        "pitch": 0.5602735280990601,
                        "yaw": 90.59121704101562
                    }
                },
                "velocity": {
                    "x": -0.026736514642834663,
                    "y": 3.0455846786499023,
                    "z": 0.03297320380806923
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.678082466125488,
                "transform": {
                    "location": {
                        "x": 2157.32861328125,
                        "y": 2527.35205078125,
                        "z": 364.7370300292969
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.1838276982307434,
                        "yaw": -0.1376342475414276
                    }
                },
                "velocity": {
                    "x": 5.678050518035889,
                    "y": -0.009844756685197353,
                    "z": 0.01632286049425602
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005948709440417588,
                "transform": {
                    "location": {
                        "x": 2219.62939453125,
                        "y": 2524.281982421875,
                        "z": 366.0318603515625
                    },
                    "rotation": {
                        "roll": 0.0009651876171119511,
                        "pitch": -1.70718514919281,
                        "yaw": 179.83009338378906
                    }
                },
                "velocity": {
                    "x": 9.093641710933298e-05,
                    "y": -0.0001563881669426337,
                    "z": 0.0005666963406838477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.131103515625,
                        "z": 365.19171142578125
                    },
                    "rotation": {
                        "roll": 0.00024276200565509498,
                        "pitch": 0.06195664405822754,
                        "yaw": -89.92688751220703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.777559757232666,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2473.62646484375,
                        "z": 364.9300842285156
                    },
                    "rotation": {
                        "roll": -0.004302963614463806,
                        "pitch": 0.5309242606163025,
                        "yaw": 89.619384765625
                    }
                },
                "velocity": {
                    "x": -0.0008475304348394275,
                    "y": 1.7774995565414429,
                    "z": 0.01460288930684328
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14728376269340515,
                "transform": {
                    "location": {
                        "x": 2170.976318359375,
                        "y": 2527.326904296875,
                        "z": 364.887451171875
                    },
                    "rotation": {
                        "roll": -0.001922607421875,
                        "pitch": 1.1696698665618896,
                        "yaw": -0.1913451999425888
                    }
                },
                "velocity": {
                    "x": 0.1472492218017578,
                    "y": -0.0008784804958850145,
                    "z": 0.0030661486089229584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4324557781219482,
                "transform": {
                    "location": {
                        "x": 2209.11328125,
                        "y": 2524.29443359375,
                        "z": 365.73773193359375
                    },
                    "rotation": {
                        "roll": 0.00209635216742754,
                        "pitch": -1.305754542350769,
                        "yaw": 179.72225952148438
                    }
                },
                "velocity": {
                    "x": -2.43158221244812,
                    "y": 0.006527430843561888,
                    "z": -0.06485575437545776
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006520875613205135,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.823974609375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.029540566727519035,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": -1.4796117284276988e-05,
                    "y": 1.4676085811515804e-05,
                    "z": 0.0006517544388771057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5086,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0442018508911133,
                "transform": {
                    "location": {
                        "x": 2197.2822265625,
                        "y": 2524.317138671875,
                        "z": 365.43499755859375
                    },
                    "rotation": {
                        "roll": -0.007629394996911287,
                        "pitch": -1.4106457233428955,
                        "yaw": 179.8548583984375
                    }
                },
                "velocity": {
                    "x": -3.0432989597320557,
                    "y": 0.007356700953096151,
                    "z": -0.07377001643180847
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.366730213165283,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2487.487060546875,
                        "z": 365.00103759765625
                    },
                    "rotation": {
                        "roll": -0.0036010537296533585,
                        "pitch": 0.4868012070655823,
                        "yaw": 89.96539306640625
                    }
                },
                "velocity": {
                    "x": -0.0027566382195800543,
                    "y": 4.366629600524902,
                    "z": 0.029551420360803604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.096732638776302e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 6.693713203276275e-06,
                    "y": 2.7060386855737306e-06,
                    "z": 5.045334546593949e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009235292091034353,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.704140782356262e-06,
                    "y": 9.873794624581933e-06,
                    "z": 0.0009234353783540428
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004944216343574226,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2498.505126953125,
                        "z": 365.06365966796875
                    },
                    "rotation": {
                        "roll": 0.00015313411131501198,
                        "pitch": 0.27825507521629333,
                        "yaw": 90.14067840576172
                    }
                },
                "velocity": {
                    "x": 0.00012269279977772385,
                    "y": -0.00040425447514280677,
                    "z": 0.00025686094886623323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006621869397349656,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -0.00015607346722390503,
                    "y": -3.505134736769833e-05,
                    "z": -0.0006425760802812874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20558835566043854,
        "expert_target_speed": 0.0,
        "target_point": [
            28.222167214851837,
            8.86468866546808
        ],
        "target_point_next": [
            28.222167214851837,
            8.86468866546808
        ]
    },
    "430": {
        "acceleration": [
            6.17533951299265e-05,
            -0.0003188778064213693,
            -0.0010811339598149061
        ],
        "angular_velocity": [
            -0.005512450821697712,
            0.008457234129309654,
            -0.0003567470994312316
        ],
        "forward_vector": [
            -0.9424712061882019,
            0.33372849225997925,
            -0.019322620704770088
        ],
        "right_vector": [
            -0.3336602449417114,
            -0.9426692128181458,
            -0.0067495256662368774
        ],
        "location": [
            2177.7314453125,
            2523.461669921875,
            365.01202392578125
        ],
        "rotation": [
            0.38679447770118713,
            -1.1071735620498657,
            160.5009765625
        ],
        "velocity": [
            -9.463876267545857e-06,
            6.364225100696785e-06,
            -0.00034042945480905473
        ],
        "speed": 1.1404749674576672e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641835689544678,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.170218467712402,
                "transform": {
                    "location": {
                        "x": 2139.190185546875,
                        "y": 2527.329345703125,
                        "z": 364.7850341796875
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.1925635188817978,
                        "yaw": 0.3985233008861542
                    }
                },
                "velocity": {
                    "x": 4.1701226234436035,
                    "y": 0.024052901193499565,
                    "z": -0.014823446050286293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8394659757614136,
                "transform": {
                    "location": {
                        "x": 2231.537353515625,
                        "y": 2524.294921875,
                        "z": 366.4055480957031
                    },
                    "rotation": {
                        "roll": -0.024749755859375,
                        "pitch": -2.203733205795288,
                        "yaw": -179.45245361328125
                    }
                },
                "velocity": {
                    "x": -0.8390274047851562,
                    "y": -0.004797213710844517,
                    "z": -0.026704205200076103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.4197187423706055,
                "transform": {
                    "location": {
                        "x": 2187.874755859375,
                        "y": 2563.662353515625,
                        "z": 365.1129150390625
                    },
                    "rotation": {
                        "roll": 0.006544305942952633,
                        "pitch": 0.5152626037597656,
                        "yaw": -89.77025604248047
                    }
                },
                "velocity": {
                    "x": 0.018345827236771584,
                    "y": -5.419645309448242,
                    "z": 0.021432217210531235
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9374616146087646,
                "transform": {
                    "location": {
                        "x": 2185.111328125,
                        "y": 2458.13525390625,
                        "z": 364.74615478515625
                    },
                    "rotation": {
                        "roll": 0.011148938909173012,
                        "pitch": 0.8085372447967529,
                        "yaw": 90.55044555664062
                    }
                },
                "velocity": {
                    "x": -0.034223392605781555,
                    "y": 3.9371209144592285,
                    "z": 0.0388789176940918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.305083274841309,
                "transform": {
                    "location": {
                        "x": 2158.87109375,
                        "y": 2527.34912109375,
                        "z": 364.7404479980469
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.34523871541023254,
                        "yaw": -0.1468200534582138
                    }
                },
                "velocity": {
                    "x": 6.305004119873047,
                    "y": -0.012530752457678318,
                    "z": 0.029065074399113655
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.369507759809494,
                "transform": {
                    "location": {
                        "x": 2219.595458984375,
                        "y": 2524.2822265625,
                        "z": 366.0309753417969
                    },
                    "rotation": {
                        "roll": 0.0017918562516570091,
                        "pitch": -1.6477352380752563,
                        "yaw": 179.80377197265625
                    }
                },
                "velocity": {
                    "x": -0.36932671070098877,
                    "y": 0.001962950685992837,
                    "z": -0.01139800064265728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.131103515625,
                        "z": 365.19171142578125
                    },
                    "rotation": {
                        "roll": 0.00024276200565509498,
                        "pitch": 0.06195664405822754,
                        "yaw": -89.92688751220703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.273601531982422,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2474.173095703125,
                        "z": 364.93450927734375
                    },
                    "rotation": {
                        "roll": -0.002990798559039831,
                        "pitch": 0.5470708012580872,
                        "yaw": 89.70881652832031
                    }
                },
                "velocity": {
                    "x": -0.000985697377473116,
                    "y": 2.273528814315796,
                    "z": 0.018171386793255806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016546446131542325,
                "transform": {
                    "location": {
                        "x": 2170.9755859375,
                        "y": 2527.326904296875,
                        "z": 364.8884582519531
                    },
                    "rotation": {
                        "roll": -0.0007019038894213736,
                        "pitch": 1.0599701404571533,
                        "yaw": -0.1912841647863388
                    }
                },
                "velocity": {
                    "x": -0.0008858123328536749,
                    "y": 6.736996147083119e-05,
                    "z": 0.0013959392672404647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.095980167388916,
                "transform": {
                    "location": {
                        "x": 2208.2900390625,
                        "y": 2524.29638671875,
                        "z": 365.7158203125
                    },
                    "rotation": {
                        "roll": -0.00018310533778276294,
                        "pitch": -1.2176792621612549,
                        "yaw": 179.78054809570312
                    }
                },
                "velocity": {
                    "x": -4.0944976806640625,
                    "y": 0.009841850027441978,
                    "z": -0.10975028574466705
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002937633835244924,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.823974609375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.029540566727519035,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": 7.639019895577803e-05,
                    "y": -2.783990794341662e-06,
                    "z": 0.0002836436324287206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8602731227874756,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.376953125,
                        "z": 365.0067138671875
                    },
                    "rotation": {
                        "roll": -0.00048828034778125584,
                        "pitch": 0.15986740589141846,
                        "yaw": 90.00578308105469
                    }
                },
                "velocity": {
                    "x": -0.0027516945265233517,
                    "y": 2.8602097034454346,
                    "z": 0.018827570602297783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004651412309613079,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 6.774179382773582e-06,
                    "y": 3.027641105290968e-05,
                    "z": 0.0004641053965315223
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004275323881302029,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.511746611678973e-06,
                    "y": 9.396808309247717e-06,
                    "z": 0.0004273232480045408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00020713364938274026,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2498.50537109375,
                        "z": 365.0635986328125
                    },
                    "rotation": {
                        "roll": -9.155504812952131e-05,
                        "pitch": 0.29026252031326294,
                        "yaw": 90.14071655273438
                    }
                },
                "velocity": {
                    "x": 2.7832740670419298e-05,
                    "y": -0.00018801115220412612,
                    "z": -8.234980487031862e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00035565992584452033,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": 3.70394773199223e-05,
                    "y": 5.983710252621677e-06,
                    "z": 0.0003536753647495061
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20612478256225586,
        "expert_target_speed": 0.0,
        "target_point": [
            28.222154533784106,
            8.86472903759305
        ],
        "target_point_next": [
            28.222154533784106,
            8.86472903759305
        ]
    },
    "435": {
        "acceleration": [
            -0.0008915484067983925,
            -0.0003528744855429977,
            -0.0011961772106587887
        ],
        "angular_velocity": [
            0.0007954101893119514,
            -0.00016773150127846748,
            -0.00021501316223293543
        ],
        "forward_vector": [
            -0.9424711465835571,
            0.33372896909713745,
            -0.01931988261640072
        ],
        "right_vector": [
            -0.33366072177886963,
            -0.9426690936088562,
            -0.006748225074261427
        ],
        "location": [
            2177.7314453125,
            2523.461669921875,
            365.01202392578125
        ],
        "rotation": [
            0.3867199122905731,
            -1.1070165634155273,
            160.50094604492188
        ],
        "velocity": [
            -4.457742033991963e-05,
            -1.7643724277149886e-05,
            -5.980886271572672e-05
        ],
        "speed": 4.794212563633332e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641835689544678,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1669921875,
                        "y": 2443.516357421875,
                        "z": 364.8289794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.143886089324951,
                "transform": {
                    "location": {
                        "x": 2140.357177734375,
                        "y": 2527.33642578125,
                        "z": 364.7806701660156
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.18666906654834747,
                        "yaw": 0.3600519001483917
                    }
                },
                "velocity": {
                    "x": 5.14378023147583,
                    "y": 0.029476245865225792,
                    "z": -0.01484899502247572
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1267027854919434,
                "transform": {
                    "location": {
                        "x": 2231.14453125,
                        "y": 2524.293212890625,
                        "z": 366.3879699707031
                    },
                    "rotation": {
                        "roll": -0.01596069149672985,
                        "pitch": -1.5575220584869385,
                        "yaw": -179.5052947998047
                    }
                },
                "velocity": {
                    "x": -2.1256415843963623,
                    "y": -0.008315990678966045,
                    "z": -0.06666230410337448
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.258061408996582,
                "transform": {
                    "location": {
                        "x": 2187.880615234375,
                        "y": 2562.093994140625,
                        "z": 365.1190185546875
                    },
                    "rotation": {
                        "roll": 0.0034096254967153072,
                        "pitch": 0.556257426738739,
                        "yaw": -89.79876708984375
                    }
                },
                "velocity": {
                    "x": 0.0204347874969244,
                    "y": -6.25798225402832,
                    "z": 0.023921480402350426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.182950496673584,
                "transform": {
                    "location": {
                        "x": 2185.101318359375,
                        "y": 2459.28173828125,
                        "z": 364.7570495605469
                    },
                    "rotation": {
                        "roll": 0.009940055198967457,
                        "pitch": 1.0270212888717651,
                        "yaw": 90.52006530761719
                    }
                },
                "velocity": {
                    "x": -0.044065553694963455,
                    "y": 5.182450294494629,
                    "z": 0.056967638432979584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.840158462524414,
                "transform": {
                    "location": {
                        "x": 2160.098388671875,
                        "y": 2527.3466796875,
                        "z": 364.7480773925781
                    },
                    "rotation": {
                        "roll": -3.0517610866809264e-05,
                        "pitch": 0.21201589703559875,
                        "yaw": -0.1485595554113388
                    }
                },
                "velocity": {
                    "x": 2.840104341506958,
                    "y": -0.006394418887794018,
                    "z": 0.016331471502780914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3641185760498047,
                "transform": {
                    "location": {
                        "x": 2219.39111328125,
                        "y": 2524.28271484375,
                        "z": 366.02496337890625
                    },
                    "rotation": {
                        "roll": 0.0027830784674733877,
                        "pitch": -1.553676724433899,
                        "yaw": 179.76248168945312
                    }
                },
                "velocity": {
                    "x": -1.3634971380233765,
                    "y": 0.002489391714334488,
                    "z": -0.041093576699495316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.131103515625,
                        "z": 365.19171142578125
                    },
                    "rotation": {
                        "roll": 0.00024276200565509498,
                        "pitch": 0.06195664405822754,
                        "yaw": -89.92688751220703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6988824605941772,
                "transform": {
                    "location": {
                        "x": 2185.03173828125,
                        "y": 2474.38623046875,
                        "z": 364.93768310546875
                    },
                    "rotation": {
                        "roll": -0.0012207216350361705,
                        "pitch": 0.37037381529808044,
                        "yaw": 89.76222229003906
                    }
                },
                "velocity": {
                    "x": -0.0004269078781362623,
                    "y": 0.6988542079925537,
                    "z": 0.006270637270063162
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005113407969474792,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88909912109375
                    },
                    "rotation": {
                        "roll": -0.001617431640625,
                        "pitch": 0.9894894361495972,
                        "yaw": -0.191253662109375
                    }
                },
                "velocity": {
                    "x": -0.0001490138383815065,
                    "y": 1.1086094673373736e-05,
                    "z": 0.0004890208365395665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.686132431030273,
                "transform": {
                    "location": {
                        "x": 2207.1025390625,
                        "y": 2524.29931640625,
                        "z": 365.6844177246094
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": -1.32577383518219,
                        "yaw": 179.8934783935547
                    }
                },
                "velocity": {
                    "x": -4.684305667877197,
                    "y": 0.010268289595842361,
                    "z": -0.13042514026165009
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015984050696715713,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.823974609375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.029540566727519035,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": -4.8227451770799235e-05,
                    "y": -2.1338792066671886e-05,
                    "z": -0.00015088988584466279
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0030418275855481625,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.73193359375,
                        "z": 365.0089416503906
                    },
                    "rotation": {
                        "roll": 0.0011640733573585749,
                        "pitch": -0.18869079649448395,
                        "yaw": 90.01782989501953
                    }
                },
                "velocity": {
                    "x": 5.935151784797199e-05,
                    "y": -0.002994998125359416,
                    "z": 0.00052837427938357
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015734511543996632,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.74226713879034e-06,
                    "y": 1.5455309494427638e-06,
                    "z": 0.00015703561075497419
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028467446099966764,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.507218894403195e-05,
                    "y": 1.5021539184090216e-05,
                    "z": 0.0002838780346792191
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.07709493488073349,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2498.511474609375,
                        "z": 365.0635070800781
                    },
                    "rotation": {
                        "roll": 0.0012063209433108568,
                        "pitch": 0.32111451029777527,
                        "yaw": 90.13871765136719
                    }
                },
                "velocity": {
                    "x": -0.0001497511111665517,
                    "y": 0.0770849660038948,
                    "z": 0.0012309264857321978
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005271518602967262,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": 1.6135445548570715e-05,
                    "y": -1.7673950424068607e-05,
                    "z": 0.0005266083171591163
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20407156646251678,
        "expert_target_speed": 0.0,
        "target_point": [
            28.222146079706864,
            8.86475595233295
        ],
        "target_point_next": [
            28.222146079706864,
            8.86475595233295
        ]
    },
    "440": {
        "acceleration": [
            -0.0009713828330859542,
            -0.0010443705832585692,
            0.007226862479001284
        ],
        "angular_velocity": [
            0.020872538909316063,
            -0.013614041730761528,
            0.0002124312159139663
        ],
        "forward_vector": [
            -0.9424710869789124,
            0.33372917771339417,
            -0.0193167831748724
        ],
        "right_vector": [
            -0.33366113901138306,
            -0.9426689743995667,
            -0.006739646662026644
        ],
        "location": [
            2177.7314453125,
            2523.46142578125,
            365.01202392578125
        ],
        "rotation": [
            0.3862283229827881,
            -1.1068389415740967,
            160.5009307861328
        ],
        "velocity": [
            -9.518399747321382e-05,
            -7.337930583162233e-05,
            0.000443700875621289
        ],
        "speed": 0.00012018533978531466,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641872882843018,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.3976745605469
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16552734375,
                        "y": 2444.97607421875,
                        "z": 364.7145690917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.480830669403076,
                "transform": {
                    "location": {
                        "x": 2141.68212890625,
                        "y": 2527.344482421875,
                        "z": 364.77593994140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": -0.2037103772163391,
                        "yaw": 0.33749228715896606
                    }
                },
                "velocity": {
                    "x": 5.480696678161621,
                    "y": 0.031765274703502655,
                    "z": -0.02137698605656624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01001619640737772,
                "transform": {
                    "location": {
                        "x": 2230.7314453125,
                        "y": 2524.29052734375,
                        "z": 366.3782653808594
                    },
                    "rotation": {
                        "roll": -0.0170898400247097,
                        "pitch": -1.960202693939209,
                        "yaw": -179.638671875
                    }
                },
                "velocity": {
                    "x": -0.010002936236560345,
                    "y": 7.190521864686161e-05,
                    "z": -0.0005101809510961175
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2789459228515625,
                "transform": {
                    "location": {
                        "x": 2187.885009765625,
                        "y": 2560.96044921875,
                        "z": 365.12738037109375
                    },
                    "rotation": {
                        "roll": -0.009857217781245708,
                        "pitch": -0.6807307600975037,
                        "yaw": -89.61669158935547
                    }
                },
                "velocity": {
                    "x": 0.010315224528312683,
                    "y": -2.2789113521575928,
                    "z": 0.007170552853494883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.66737699508667,
                "transform": {
                    "location": {
                        "x": 2185.089111328125,
                        "y": 2460.663818359375,
                        "z": 364.77166748046875
                    },
                    "rotation": {
                        "roll": 0.010182950645685196,
                        "pitch": 0.9250397682189941,
                        "yaw": 90.40532684326172
                    }
                },
                "velocity": {
                    "x": -0.046500008553266525,
                    "y": 5.666912078857422,
                    "z": 0.055738694965839386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00045121152652427554,
                "transform": {
                    "location": {
                        "x": 2160.302978515625,
                        "y": 2527.345947265625,
                        "z": 364.7497863769531
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": 0.17904657125473022,
                        "yaw": -0.1288757175207138
                    }
                },
                "velocity": {
                    "x": -0.00016960914945229888,
                    "y": -0.0002498601679690182,
                    "z": 0.00033525287290103734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.245882511138916,
                "transform": {
                    "location": {
                        "x": 2218.94140625,
                        "y": 2524.28271484375,
                        "z": 366.01165771484375
                    },
                    "rotation": {
                        "roll": -0.004089354537427425,
                        "pitch": -1.5175449848175049,
                        "yaw": 179.91616821289062
                    }
                },
                "velocity": {
                    "x": -2.2448859214782715,
                    "y": 0.0010487043764442205,
                    "z": -0.06689510494470596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.131103515625,
                        "z": 365.19171142578125
                    },
                    "rotation": {
                        "roll": 0.00024276200565509498,
                        "pitch": 0.06195664405822754,
                        "yaw": -89.92688751220703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5889785289764404,
                "transform": {
                    "location": {
                        "x": 2185.03271484375,
                        "y": 2474.693603515625,
                        "z": 364.9387512207031
                    },
                    "rotation": {
                        "roll": -0.0017394782043993473,
                        "pitch": 0.5307807922363281,
                        "yaw": 89.83778381347656
                    }
                },
                "velocity": {
                    "x": -0.0010310448706150055,
                    "y": 1.5889246463775635,
                    "z": 0.01304496731609106
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012568269157782197,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88916015625
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": 0.9794080853462219,
                        "yaw": -0.1912231296300888
                    }
                },
                "velocity": {
                    "x": -0.00010305240721208975,
                    "y": 1.2448045936253038e-06,
                    "z": 0.001252594287507236
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.5043864250183105,
                "transform": {
                    "location": {
                        "x": 2206.09716796875,
                        "y": 2524.30126953125,
                        "z": 365.6572570800781
                    },
                    "rotation": {
                        "roll": -0.005462645553052425,
                        "pitch": -1.4949370622634888,
                        "yaw": 179.97772216796875
                    }
                },
                "velocity": {
                    "x": -4.50279426574707,
                    "y": 0.00623711384832859,
                    "z": -0.11959835886955261
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003094412968493998,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.823974609375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.029540566727519035,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": -8.198620344046503e-05,
                    "y": 7.173856374720344e-06,
                    "z": -0.00029829636332578957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0033258094917982817,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.734375,
                        "z": 365.0090637207031
                    },
                    "rotation": {
                        "roll": 0.0011869736481457949,
                        "pitch": 0.21414007246494293,
                        "yaw": 90.01780700683594
                    }
                },
                "velocity": {
                    "x": -3.8021338696125895e-05,
                    "y": -0.003254316281527281,
                    "z": 0.0006848276243545115
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017794762970879674,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.9553303900465835e-06,
                    "y": -4.598642044584267e-05,
                    "z": 0.00017189177742693573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006967143854126334,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.804089702607598e-06,
                    "y": -1.7041251339833252e-05,
                    "z": 0.000696450297255069
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6233484148979187,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2498.591796875,
                        "z": 365.06353759765625
                    },
                    "rotation": {
                        "roll": 0.002307182177901268,
                        "pitch": 0.45441246032714844,
                        "yaw": 90.14990997314453
                    }
                },
                "velocity": {
                    "x": -0.00013311949442140758,
                    "y": 0.6233428716659546,
                    "z": 0.0026156806852668524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20412005484104156,
        "expert_target_speed": 0.0,
        "target_point": [
            28.222227571673844,
            8.86452581388746
        ],
        "target_point_next": [
            28.222227571673844,
            8.86452581388746
        ]
    },
    "445": {
        "acceleration": [
            -0.0024040015414357185,
            -0.004216207191348076,
            -0.0020933381747454405
        ],
        "angular_velocity": [
            0.02726832777261734,
            -0.0024409687612205744,
            0.0003122472553513944
        ],
        "forward_vector": [
            -0.9424704313278198,
            0.3337307274341583,
            -0.019320476800203323
        ],
        "right_vector": [
            -0.33366256952285767,
            -0.9426684379577637,
            -0.006745998281985521
        ],
        "location": [
            2177.7314453125,
            2523.46142578125,
            365.01202392578125
        ],
        "rotation": [
            0.3865923285484314,
            -1.1070506572723389,
            160.50083923339844
        ],
        "velocity": [
            -5.2316932851681486e-05,
            -0.00010042444773716852,
            3.0859380785841495e-05
        ],
        "speed": 0.00011323484961054455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641872882843018,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4067384600639343,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.0123291015625
                    },
                    "rotation": {
                        "roll": 5.941842755419202e-05,
                        "pitch": 0.352103054523468,
                        "yaw": -89.93975830078125
                    }
                },
                "velocity": {
                    "x": -6.452249363064766e-05,
                    "y": -0.00258132116869092,
                    "z": -0.4067302644252777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1640625,
                        "y": 2446.505859375,
                        "z": 364.6242370605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.506830215454102,
                "transform": {
                    "location": {
                        "x": 2143.163818359375,
                        "y": 2527.352783203125,
                        "z": 364.77008056640625
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.18902547657489777,
                        "yaw": 0.3145703673362732
                    }
                },
                "velocity": {
                    "x": 6.506729602813721,
                    "y": 0.02739523909986019,
                    "z": -0.02369331754744053
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1363344192504883,
                "transform": {
                    "location": {
                        "x": 2230.594970703125,
                        "y": 2524.2900390625,
                        "z": 366.37347412109375
                    },
                    "rotation": {
                        "roll": -0.0145263671875,
                        "pitch": -1.8970576524734497,
                        "yaw": -179.6104278564453
                    }
                },
                "velocity": {
                    "x": -1.1357783079147339,
                    "y": -0.0041662948206067085,
                    "z": -0.0353001244366169
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7670126557350159,
                "transform": {
                    "location": {
                        "x": 2187.8857421875,
                        "y": 2560.805908203125,
                        "z": 365.1285400390625
                    },
                    "rotation": {
                        "roll": -0.006469719111919403,
                        "pitch": -0.84487384557724,
                        "yaw": -89.6495361328125
                    }
                },
                "velocity": {
                    "x": 0.003691338235512376,
                    "y": -0.7669983506202698,
                    "z": 0.0028854559641331434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.532842636108398,
                "transform": {
                    "location": {
                        "x": 2185.07861328125,
                        "y": 2462.2265625,
                        "z": 364.7869567871094
                    },
                    "rotation": {
                        "roll": 0.021836377680301666,
                        "pitch": 0.9473608732223511,
                        "yaw": 90.36798858642578
                    }
                },
                "velocity": {
                    "x": -0.03499361872673035,
                    "y": 6.532433986663818,
                    "z": 0.06416282802820206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016748883062973619,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7489013671875
                    },
                    "rotation": {
                        "roll": -0.0024719233624637127,
                        "pitch": 0.2746213972568512,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": -8.601128502050415e-05,
                    "y": 1.6266529200947843e-05,
                    "z": 0.0016725992318242788
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7127490043640137,
                "transform": {
                    "location": {
                        "x": 2218.19970703125,
                        "y": 2524.28271484375,
                        "z": 365.9901123046875
                    },
                    "rotation": {
                        "roll": -0.003845214145258069,
                        "pitch": -1.436737060546875,
                        "yaw": 179.9671173095703
                    }
                },
                "velocity": {
                    "x": -3.71121883392334,
                    "y": 0.0013883344363421202,
                    "z": -0.10657192021608353
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.131103515625,
                        "z": 365.19171142578125
                    },
                    "rotation": {
                        "roll": 0.00024276200565509498,
                        "pitch": 0.06195664405822754,
                        "yaw": -89.92688751220703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5876705646514893,
                "transform": {
                    "location": {
                        "x": 2185.032958984375,
                        "y": 2475.2099609375,
                        "z": 364.94268798828125
                    },
                    "rotation": {
                        "roll": -0.0022888118401169777,
                        "pitch": 0.565491795539856,
                        "yaw": 89.88983917236328
                    }
                },
                "velocity": {
                    "x": -0.0022131011355668306,
                    "y": 2.587595224380493,
                    "z": 0.019625777378678322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006353678181767464,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.746692113461904e-05,
                    "y": -1.951623744389508e-05,
                    "z": 0.0006324625574052334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.333499908447266,
                "transform": {
                    "location": {
                        "x": 2204.93310546875,
                        "y": 2524.30322265625,
                        "z": 365.62725830078125
                    },
                    "rotation": {
                        "roll": -0.0017395018367096782,
                        "pitch": -1.509273648262024,
                        "yaw": 179.93911743164062
                    }
                },
                "velocity": {
                    "x": -4.3320746421813965,
                    "y": 0.006856142543256283,
                    "z": -0.11092452704906464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003702591930050403,
                "transform": {
                    "location": {
                        "x": 2187.8671875,
                        "y": 2539.823974609375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": 8.337633916610798e-10,
                        "pitch": -0.024957509711384773,
                        "yaw": -91.50286102294922
                    }
                },
                "velocity": {
                    "x": 2.7253952794126235e-05,
                    "y": 1.960510871867882e-06,
                    "z": 0.0003692495811264962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009213443263433874,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.7353515625,
                        "z": 365.00909423828125
                    },
                    "rotation": {
                        "roll": 0.0012099118903279305,
                        "pitch": 0.3397267460823059,
                        "yaw": 90.01780700683594
                    }
                },
                "velocity": {
                    "x": -4.5292814320418984e-05,
                    "y": -0.0007393717532977462,
                    "z": 0.0005478624952957034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003585908270906657,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -2.3275613614259782e-07,
                    "y": 2.374545692873653e-05,
                    "z": 0.0003578036848921329
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006061430322006345,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.694099389889743e-06,
                    "y": 2.354601065235329e-06,
                    "z": 0.0006060609011910856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4286048412322998,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2498.861572265625,
                        "z": 365.0646057128906
                    },
                    "rotation": {
                        "roll": 0.0014604008756577969,
                        "pitch": 0.5788038372993469,
                        "yaw": 90.14972686767578
                    }
                },
                "velocity": {
                    "x": -0.0019149373983964324,
                    "y": 1.4285920858383179,
                    "z": 0.005714921746402979
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000182253192178905,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": 7.778867438901216e-05,
                    "y": 1.907676414703019e-05,
                    "z": 0.00016371080710086972
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2053583711385727,
        "expert_target_speed": 0.0,
        "target_point": [
            28.22221066388132,
            8.864579643498509
        ],
        "target_point_next": [
            28.22221066388132,
            8.864579643498509
        ]
    },
    "450": {
        "acceleration": [
            -3.239212674088776e-05,
            0.0008195406990125775,
            -0.009476829320192337
        ],
        "angular_velocity": [
            0.00503598852083087,
            0.0018134168349206448,
            -0.0001419423642801121
        ],
        "forward_vector": [
            -0.9424704313278198,
            0.3337307274341583,
            -0.019320476800203323
        ],
        "right_vector": [
            -0.33366256952285767,
            -0.9426684379577637,
            -0.006745998281985521
        ],
        "location": [
            2177.7314453125,
            2523.46142578125,
            365.01202392578125
        ],
        "rotation": [
            0.3865923285484314,
            -1.1070506572723389,
            160.50083923339844
        ],
        "velocity": [
            -3.0443965442827903e-05,
            -3.231439768569544e-05,
            -0.0004425379156600684
        ],
        "speed": 4.439656889528039e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.641872882843018,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12812255322933197,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.029052734375
                    },
                    "rotation": {
                        "roll": 0.0008707859669812024,
                        "pitch": 0.3571642339229584,
                        "yaw": -89.93975830078125
                    }
                },
                "velocity": {
                    "x": 0.0003908554499503225,
                    "y": 0.0008423260296694934,
                    "z": 0.12811918556690216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.162841796875,
                        "y": 2448.025146484375,
                        "z": 364.6412658691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.399231910705566,
                "transform": {
                    "location": {
                        "x": 2144.9228515625,
                        "y": 2527.359375,
                        "z": 364.7633361816406
                    },
                    "rotation": {
                        "roll": 0.00040333805372938514,
                        "pitch": -0.18408042192459106,
                        "yaw": 0.15466728806495667
                    }
                },
                "velocity": {
                    "x": 7.39916467666626,
                    "y": 0.014566639438271523,
                    "z": -0.027933478355407715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2620737552642822,
                "transform": {
                    "location": {
                        "x": 2230.1767578125,
                        "y": 2524.28857421875,
                        "z": 366.3572998046875
                    },
                    "rotation": {
                        "roll": -0.01266479305922985,
                        "pitch": -1.4992674589157104,
                        "yaw": -179.61968994140625
                    }
                },
                "velocity": {
                    "x": -2.260972499847412,
                    "y": -0.0068545169197022915,
                    "z": -0.07024405151605606
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3933730125427246,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2560.47900390625,
                        "z": 365.12615966796875
                    },
                    "rotation": {
                        "roll": 0.00655532767996192,
                        "pitch": 0.10213864594697952,
                        "yaw": -89.71776580810547
                    }
                },
                "velocity": {
                    "x": 0.00015561917098239064,
                    "y": -1.393362283706665,
                    "z": 0.005457229446619749
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6671550273895264,
                "transform": {
                    "location": {
                        "x": 2185.0712890625,
                        "y": 2463.61767578125,
                        "z": 364.80364990234375
                    },
                    "rotation": {
                        "roll": 0.001271984656341374,
                        "pitch": 0.04964864253997803,
                        "yaw": 90.49496459960938
                    }
                },
                "velocity": {
                    "x": -0.024420350790023804,
                    "y": 3.666930675506592,
                    "z": 0.03239736333489418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.173381805419922,
                "transform": {
                    "location": {
                        "x": 2217.077880859375,
                        "y": 2524.282958984375,
                        "z": 365.9582214355469
                    },
                    "rotation": {
                        "roll": -0.002655028598383069,
                        "pitch": -1.4194635152816772,
                        "yaw": 179.97329711914062
                    }
                },
                "velocity": {
                    "x": -5.171408176422119,
                    "y": 0.00413929857313633,
                    "z": -0.14284095168113708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.131103515625,
                        "z": 365.19171142578125
                    },
                    "rotation": {
                        "roll": 0.00024276200565509498,
                        "pitch": 0.06195664405822754,
                        "yaw": -89.92688751220703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9468796253204346,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2476.029052734375,
                        "z": 364.9490051269531
                    },
                    "rotation": {
                        "roll": -0.0016479260521009564,
                        "pitch": 0.5975732207298279,
                        "yaw": 89.94879913330078
                    }
                },
                "velocity": {
                    "x": -0.003992295358330011,
                    "y": 3.94675874710083,
                    "z": 0.030624542385339737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001610337058082223,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -8.409753354499117e-05,
                    "y": 1.1651772183540743e-05,
                    "z": 0.0016080974601209164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.158823013305664,
                "transform": {
                    "location": {
                        "x": 2203.899658203125,
                        "y": 2524.30517578125,
                        "z": 365.6007385253906
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -1.498318076133728,
                        "yaw": 179.92196655273438
                    }
                },
                "velocity": {
                    "x": -4.157451152801514,
                    "y": 0.007064809091389179,
                    "z": -0.1065761148929596
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.029946131631731987,
                "transform": {
                    "location": {
                        "x": 2187.866943359375,
                        "y": 2539.82177734375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": 0.0004732757806777954,
                        "pitch": -0.019377246499061584,
                        "yaw": -91.51642608642578
                    }
                },
                "velocity": {
                    "x": -0.002597991144284606,
                    "y": -0.029833218082785606,
                    "z": 1.7299651517532766e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005482679116539657,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.7353515625,
                        "z": 365.00909423828125
                    },
                    "rotation": {
                        "roll": 0.001241958816535771,
                        "pitch": 0.3634343445301056,
                        "yaw": 90.01782989501953
                    }
                },
                "velocity": {
                    "x": -4.2465048863959964e-06,
                    "y": -0.00022234178322833031,
                    "z": -0.0005011425237171352
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00027198984753340483,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.8854625523090363e-05,
                    "y": 4.418482421897352e-05,
                    "z": 0.0002677137963473797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010362340835854411,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7168893464258872e-05,
                    "y": 2.098890399793163e-05,
                    "z": 0.0010358792496845126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0012747661676257849,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2498.916748046875,
                        "z": 365.0666198730469
                    },
                    "rotation": {
                        "roll": -0.003387453267350793,
                        "pitch": 0.0781373605132103,
                        "yaw": 90.22058868408203
                    }
                },
                "velocity": {
                    "x": 4.147150320932269e-05,
                    "y": -0.001187032088637352,
                    "z": -0.000462886382592842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006530725513584912,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -6.923700857441872e-05,
                    "y": 1.7044729247572832e-05,
                    "z": 0.0006491683307103813
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.203591451048851,
        "expert_target_speed": 0.0,
        "target_point": [
            28.22221066388132,
            8.864579643498509
        ],
        "target_point_next": [
            28.22221066388132,
            8.864579643498509
        ]
    },
    "455": {
        "acceleration": [
            0.6576184034347534,
            -0.2492666095495224,
            0.011897278018295765
        ],
        "angular_velocity": [
            -0.04392879828810692,
            -0.09030968695878983,
            -0.41429710388183594
        ],
        "forward_vector": [
            -0.9424141645431519,
            0.3339065611362457,
            -0.01902286522090435
        ],
        "right_vector": [
            -0.3338387906551361,
            -0.9426061511039734,
            -0.0067269825376570225
        ],
        "location": [
            2177.724609375,
            2523.463623046875,
            365.0118408203125
        ],
        "rotation": [
            0.38550040125846863,
            -1.0899956226348877,
            160.49026489257812
        ],
        "velocity": [
            -0.04055015370249748,
            0.011626492254436016,
            -0.0013482475187629461
        ],
        "speed": 0.042184005113770684,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.634779930114746,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5618226528167725,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2576.0791015625,
                        "z": 365.04779052734375
                    },
                    "rotation": {
                        "roll": -0.0035705554764717817,
                        "pitch": 0.5325566530227661,
                        "yaw": -89.79409790039062
                    }
                },
                "velocity": {
                    "x": 0.022778822109103203,
                    "y": -1.5611845254898071,
                    "z": 0.038395851850509644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1611328125,
                        "y": 2449.4892578125,
                        "z": 364.65777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.491833686828613,
                "transform": {
                    "location": {
                        "x": 2146.677978515625,
                        "y": 2527.36279296875,
                        "z": 364.7571105957031
                    },
                    "rotation": {
                        "roll": 0.00019544881070032716,
                        "pitch": -0.2352931797504425,
                        "yaw": 0.052708812057971954
                    }
                },
                "velocity": {
                    "x": 6.4917826652526855,
                    "y": 0.007553405128419399,
                    "z": -0.02461988851428032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.21599970757961273,
                "transform": {
                    "location": {
                        "x": 2229.68017578125,
                        "y": 2524.288330078125,
                        "z": 366.3453063964844
                    },
                    "rotation": {
                        "roll": -0.024444574490189552,
                        "pitch": -1.9291322231292725,
                        "yaw": -179.50086975097656
                    }
                },
                "velocity": {
                    "x": -0.215845987200737,
                    "y": 0.004286088515073061,
                    "z": -0.006929283030331135
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0037061020266264677,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.446044921875,
                        "z": 365.1273498535156
                    },
                    "rotation": {
                        "roll": 0.0004829245444852859,
                        "pitch": -0.17239396274089813,
                        "yaw": -89.7838363647461
                    }
                },
                "velocity": {
                    "x": 0.00024241552455350757,
                    "y": 0.003682678798213601,
                    "z": 0.00033808738226071
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4812101423740387,
                "transform": {
                    "location": {
                        "x": 2185.069580078125,
                        "y": 2463.931640625,
                        "z": 364.8097839355469
                    },
                    "rotation": {
                        "roll": -0.0018920865841209888,
                        "pitch": -0.8418890833854675,
                        "yaw": 90.51176452636719
                    }
                },
                "velocity": {
                    "x": -0.003568414133042097,
                    "y": 0.48118239641189575,
                    "z": 0.003737211227416992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.15282678604126,
                "transform": {
                    "location": {
                        "x": 2215.741455078125,
                        "y": 2524.283935546875,
                        "z": 365.9199523925781
                    },
                    "rotation": {
                        "roll": -0.0028381342999637127,
                        "pitch": -1.5869123935699463,
                        "yaw": 179.9970245361328
                    }
                },
                "velocity": {
                    "x": -5.150693416595459,
                    "y": 0.005418609362095594,
                    "z": -0.1481606513261795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.055696357041597366,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2550.12841796875,
                        "z": 365.1913146972656
                    },
                    "rotation": {
                        "roll": -0.0003051710082218051,
                        "pitch": 0.08153196424245834,
                        "yaw": -89.92613983154297
                    }
                },
                "velocity": {
                    "x": 3.183445005561225e-05,
                    "y": -0.055681612342596054,
                    "z": 0.001281099277548492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.956997394561768,
                "transform": {
                    "location": {
                        "x": 2185.03173828125,
                        "y": 2477.174072265625,
                        "z": 364.9584045410156
                    },
                    "rotation": {
                        "roll": -0.0016479193000122905,
                        "pitch": 0.5745759606361389,
                        "yaw": 90.00125122070312
                    }
                },
                "velocity": {
                    "x": -0.005120922811329365,
                    "y": 4.95684814453125,
                    "z": 0.038141410797834396
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009267904097214341,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.824982872582041e-05,
                    "y": -8.03727834863821e-06,
                    "z": 0.000924923166166991
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8244974613189697,
                "transform": {
                    "location": {
                        "x": 2202.893310546875,
                        "y": 2524.30712890625,
                        "z": 365.5748596191406
                    },
                    "rotation": {
                        "roll": -0.0009155269945040345,
                        "pitch": -1.4834896326065063,
                        "yaw": 179.91180419921875
                    }
                },
                "velocity": {
                    "x": -3.8232674598693848,
                    "y": 0.0057793729938566685,
                    "z": -0.09681861847639084
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6202338337898254,
                "transform": {
                    "location": {
                        "x": 2187.863037109375,
                        "y": 2539.744873046875,
                        "z": 365.1640625
                    },
                    "rotation": {
                        "roll": 0.006744451820850372,
                        "pitch": 0.04402739554643631,
                        "yaw": -91.57745361328125
                    }
                },
                "velocity": {
                    "x": -0.032973676919937134,
                    "y": -0.6193566918373108,
                    "z": -0.00017493247287347913
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.860000525601208e-05,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.735595703125,
                        "z": 365.00909423828125
                    },
                    "rotation": {
                        "roll": 0.001266559469513595,
                        "pitch": 0.36958834528923035,
                        "yaw": 90.01781463623047
                    }
                },
                "velocity": {
                    "x": -1.1916638413822511e-06,
                    "y": -8.844915282679722e-05,
                    "z": -5.0288672355236486e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007664948352612555,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.6927718604620168e-07,
                    "y": -4.54020891993423e-06,
                    "z": 0.0007664813892915845
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009107548394240439,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0693184776755515e-05,
                    "y": -2.3923585104057565e-05,
                    "z": 0.0009103777701966465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0016429160023108125,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2498.91796875,
                        "z": 365.066162109375
                    },
                    "rotation": {
                        "roll": -0.002258306136354804,
                        "pitch": 0.2091062366962433,
                        "yaw": 90.22053527832031
                    }
                },
                "velocity": {
                    "x": 4.227214230922982e-05,
                    "y": -0.0013157909270375967,
                    "z": -0.0009828938636928797
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004164215933997184,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -5.558383236348163e-06,
                    "y": -1.6197374861803837e-05,
                    "z": 0.0004160693206358701
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20600885152816772,
        "expert_target_speed": 0.0,
        "target_point": [
            28.2133970846638,
            8.869575638619947
        ],
        "target_point_next": [
            28.2133970846638,
            8.869575638619947
        ]
    },
    "460": {
        "acceleration": [
            -1.1274546384811401,
            0.3987482786178589,
            -0.03547191247344017
        ],
        "angular_velocity": [
            0.07150854915380478,
            0.15311743319034576,
            0.5803990960121155
        ],
        "forward_vector": [
            -0.9424678683280945,
            0.3337589204311371,
            -0.01895361952483654
        ],
        "right_vector": [
            -0.33369067311286926,
            -0.9426584839820862,
            -0.006749393884092569
        ],
        "location": [
            2177.70361328125,
            2523.470458984375,
            365.0113525390625
        ],
        "rotation": [
            0.3867841958999634,
            -1.0860273838043213,
            160.499267578125
        ],
        "velocity": [
            -0.11904492229223251,
            0.03958827257156372,
            -0.002841091016307473
        ],
        "speed": 0.12545487176177775,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.612982273101807,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7188162803649902,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2575.55224609375,
                        "z": 365.05419921875
                    },
                    "rotation": {
                        "roll": 0.0005060165422037244,
                        "pitch": 0.5379183292388916,
                        "yaw": -89.6872787475586
                    }
                },
                "velocity": {
                    "x": 0.02408945932984352,
                    "y": -2.7186288833618164,
                    "z": 0.020949801430106163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16015625,
                        "y": 2450.322509765625,
                        "z": 364.66717529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.582870602607727,
                "transform": {
                    "location": {
                        "x": 2147.62353515625,
                        "y": 2527.36474609375,
                        "z": 364.7545166015625
                    },
                    "rotation": {
                        "roll": 0.0013118236092850566,
                        "pitch": -0.3815001845359802,
                        "yaw": 0.0026576989330351353
                    }
                },
                "velocity": {
                    "x": 0.5828636288642883,
                    "y": 0.0016577548813074827,
                    "z": -0.0023171997163444757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3943328857421875,
                "transform": {
                    "location": {
                        "x": 2229.494384765625,
                        "y": 2524.287353515625,
                        "z": 366.33941650390625
                    },
                    "rotation": {
                        "roll": -0.0205078125,
                        "pitch": -1.9258127212524414,
                        "yaw": -179.5435791015625
                    }
                },
                "velocity": {
                    "x": -1.3936623334884644,
                    "y": -0.005048992577940226,
                    "z": -0.042941149324178696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002043223474174738,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.444580078125,
                        "z": 365.12646484375
                    },
                    "rotation": {
                        "roll": 0.0014049020828679204,
                        "pitch": 0.06584984809160233,
                        "yaw": -89.78386688232422
                    }
                },
                "velocity": {
                    "x": 0.0001552227622596547,
                    "y": 0.0020197227131575346,
                    "z": 0.00026718692970462143
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7088327407836914,
                "transform": {
                    "location": {
                        "x": 2185.06787109375,
                        "y": 2464.235595703125,
                        "z": 364.8083190917969
                    },
                    "rotation": {
                        "roll": -0.002929708920419216,
                        "pitch": 0.339692622423172,
                        "yaw": 90.39176177978516
                    }
                },
                "velocity": {
                    "x": -0.008161556906998158,
                    "y": 1.7087340354919434,
                    "z": 0.016467103734612465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002986476058140397,
                "transform": {
                    "location": {
                        "x": 2215.2431640625,
                        "y": 2524.284423828125,
                        "z": 365.90447998046875
                    },
                    "rotation": {
                        "roll": -0.012115475721657276,
                        "pitch": -2.2597339153289795,
                        "yaw": -179.87225341796875
                    }
                },
                "velocity": {
                    "x": 0.002911781193688512,
                    "y": -0.00014958537940401584,
                    "z": -0.0006466791382990777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5588693022727966,
                "transform": {
                    "location": {
                        "x": 2187.902587890625,
                        "y": 2550.06640625,
                        "z": 365.1911926269531
                    },
                    "rotation": {
                        "roll": 6.444004975492135e-05,
                        "pitch": 0.12524516880512238,
                        "yaw": -89.94361114501953
                    }
                },
                "velocity": {
                    "x": 0.00014979005209170282,
                    "y": -0.5588619709014893,
                    "z": 0.0028613279573619366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.61020565032959,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2478.256103515625,
                        "z": 364.9684753417969
                    },
                    "rotation": {
                        "roll": -0.0008544992888346314,
                        "pitch": 0.3785427212715149,
                        "yaw": 90.02812957763672
                    }
                },
                "velocity": {
                    "x": -0.003365179290995002,
                    "y": 3.610093116760254,
                    "z": 0.028312167152762413
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028334028320387006,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.234300988377072e-05,
                    "y": -1.870854475782835e-06,
                    "z": 0.0002784572134260088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7843685150146484,
                "transform": {
                    "location": {
                        "x": 2201.935791015625,
                        "y": 2524.30908203125,
                        "z": 365.55126953125
                    },
                    "rotation": {
                        "roll": 0.0002101809805026278,
                        "pitch": -1.447877049446106,
                        "yaw": 179.90274047851562
                    }
                },
                "velocity": {
                    "x": -3.783205270767212,
                    "y": 0.0074945976957678795,
                    "z": -0.09352222084999084
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5791916847229004,
                "transform": {
                    "location": {
                        "x": 2187.84814453125,
                        "y": 2539.469970703125,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": 0.010430315509438515,
                        "pitch": 0.10138048976659775,
                        "yaw": -91.87376403808594
                    }
                },
                "velocity": {
                    "x": -0.08268283307552338,
                    "y": -1.5770244598388672,
                    "z": -0.0019679164979606867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00025529670529067516,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.735595703125,
                        "z": 365.00909423828125
                    },
                    "rotation": {
                        "roll": 0.001266559469513595,
                        "pitch": 0.36958834528923035,
                        "yaw": 90.01781463623047
                    }
                },
                "velocity": {
                    "x": -9.344860882265493e-05,
                    "y": -2.6217960112262517e-05,
                    "z": -0.00023612788936588913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.471382559742779e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.2933351172250696e-05,
                    "y": 2.4010809283936396e-05,
                    "z": 6.955835851840675e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019269286713097245,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.012388565868605e-05,
                    "y": 3.7097988752066158e-06,
                    "z": 0.00019239097309764475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2498.91845703125,
                        "z": 365.06597900390625
                    },
                    "rotation": {
                        "roll": -0.0004882836365140975,
                        "pitch": 0.2628529965877533,
                        "yaw": 90.22058868408203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.83601639745757e-05,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -2.460861423969618e-06,
                    "y": -1.6377791325794533e-05,
                    "z": 9.695583867141977e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20748302340507507,
        "expert_target_speed": 0.0,
        "target_point": [
            28.192718753671375,
            8.864570899374097
        ],
        "target_point_next": [
            28.192718753671375,
            8.864570899374097
        ]
    },
    "465": {
        "acceleration": [
            0.6725413799285889,
            -0.22489361464977264,
            0.021356962621212006
        ],
        "angular_velocity": [
            -0.013381937518715858,
            -0.10496411472558975,
            0.020920874550938606
        ],
        "forward_vector": [
            -0.9424899220466614,
            0.33368730545043945,
            -0.01911916956305504
        ],
        "right_vector": [
            -0.33361876010894775,
            -0.9426838159561157,
            -0.006764255464076996
        ],
        "location": [
            2177.67919921875,
            2523.478759765625,
            365.0108947753906
        ],
        "rotation": [
            0.38763710856437683,
            -1.0955144166946411,
            160.50355529785156
        ],
        "velocity": [
            -0.09299752861261368,
            0.03115343302488327,
            -0.0020039938390254974
        ],
        "speed": 0.09807689186189471,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.587587833404541,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.315907955169678,
                "transform": {
                    "location": {
                        "x": 2187.79345703125,
                        "y": 2574.659423828125,
                        "z": 365.0604248046875
                    },
                    "rotation": {
                        "roll": -0.0009460565051995218,
                        "pitch": 0.5815564393997192,
                        "yaw": -89.56348419189453
                    }
                },
                "velocity": {
                    "x": 0.041526611894369125,
                    "y": -4.315631866455078,
                    "z": 0.025703296065330505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.158447265625,
                        "y": 2451.572509765625,
                        "z": 364.6812744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9412577152252197,
                "transform": {
                    "location": {
                        "x": 2147.753173828125,
                        "y": 2527.364990234375,
                        "z": 364.7529602050781
                    },
                    "rotation": {
                        "roll": 0.0011024523992091417,
                        "pitch": -0.25809234380722046,
                        "yaw": -0.0454406663775444
                    }
                },
                "velocity": {
                    "x": 0.941253662109375,
                    "y": -0.0014844746328890324,
                    "z": -0.0023413370363414288
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4899170398712158,
                "transform": {
                    "location": {
                        "x": 2229.03515625,
                        "y": 2524.286865234375,
                        "z": 366.3224792480469
                    },
                    "rotation": {
                        "roll": -0.02337646484375,
                        "pitch": -1.5791327953338623,
                        "yaw": -179.38803100585938
                    }
                },
                "velocity": {
                    "x": -1.4892306327819824,
                    "y": -0.0007420344627462327,
                    "z": -0.04521416127681732
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005660816095769405,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.442626953125,
                        "z": 365.12615966796875
                    },
                    "rotation": {
                        "roll": 0.0014906605938449502,
                        "pitch": 0.1517736315727234,
                        "yaw": -89.78274536132812
                    }
                },
                "velocity": {
                    "x": -0.0005063934368081391,
                    "y": 0.0056371078826487064,
                    "z": 0.00010686874156817794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6166324615478516,
                "transform": {
                    "location": {
                        "x": 2185.065185546875,
                        "y": 2464.76806640625,
                        "z": 364.8117980957031
                    },
                    "rotation": {
                        "roll": 0.00245041586458683,
                        "pitch": 0.7661969065666199,
                        "yaw": 90.35301208496094
                    }
                },
                "velocity": {
                    "x": -0.012343332171440125,
                    "y": 2.616483211517334,
                    "z": 0.025060690939426422
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6882688999176025,
                "transform": {
                    "location": {
                        "x": 2214.971435546875,
                        "y": 2524.284423828125,
                        "z": 365.89752197265625
                    },
                    "rotation": {
                        "roll": -0.006134032271802425,
                        "pitch": -1.6389720439910889,
                        "yaw": -179.91952514648438
                    }
                },
                "velocity": {
                    "x": -1.6875795125961304,
                    "y": 0.000696666247677058,
                    "z": -0.0482349656522274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.316031813621521,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2549.831787109375,
                        "z": 365.19146728515625
                    },
                    "rotation": {
                        "roll": 0.00017236951680388302,
                        "pitch": 0.15613128244876862,
                        "yaw": -89.92105102539062
                    }
                },
                "velocity": {
                    "x": 0.0007458192412741482,
                    "y": -1.3160297870635986,
                    "z": 0.002178850118070841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2336108684539795,
                "transform": {
                    "location": {
                        "x": 2185.030029296875,
                        "y": 2478.973388671875,
                        "z": 364.97467041015625
                    },
                    "rotation": {
                        "roll": 0.000820502289570868,
                        "pitch": 0.3165314495563507,
                        "yaw": 90.03265380859375
                    }
                },
                "velocity": {
                    "x": -0.002116338349878788,
                    "y": 2.233539342880249,
                    "z": 0.017759475857019424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012880531139671803,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -7.220447150757536e-05,
                    "y": -7.817853656888474e-06,
                    "z": 0.0012860039714723825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0942745208740234,
                "transform": {
                    "location": {
                        "x": 2201.0615234375,
                        "y": 2524.296142578125,
                        "z": 365.52972412109375
                    },
                    "rotation": {
                        "roll": -0.07574462890625,
                        "pitch": -1.5357884168624878,
                        "yaw": -179.55062866210938
                    }
                },
                "velocity": {
                    "x": -3.091705799102783,
                    "y": -0.1010282039642334,
                    "z": -0.07539960741996765
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.625272512435913,
                "transform": {
                    "location": {
                        "x": 2187.81884765625,
                        "y": 2538.939208984375,
                        "z": 365.1637878417969
                    },
                    "rotation": {
                        "roll": 0.01291147992014885,
                        "pitch": 0.1333526074886322,
                        "yaw": -92.27650451660156
                    }
                },
                "velocity": {
                    "x": -0.1453023999929428,
                    "y": -2.6212472915649414,
                    "z": -0.002267551375553012
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.015209732577204704,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.73681640625,
                        "z": 365.00909423828125
                    },
                    "rotation": {
                        "roll": 0.0014360916102305055,
                        "pitch": 0.3768283426761627,
                        "yaw": 90.01778411865234
                    }
                },
                "velocity": {
                    "x": 0.0001977313804673031,
                    "y": -0.015195958316326141,
                    "z": -0.000616207136772573
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004455129092093557,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 7.591173016407993e-06,
                    "y": 1.244596660399111e-05,
                    "z": 0.0004452743160072714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009570600232109427,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.393413736484945e-06,
                    "y": 1.960048621185706e-06,
                    "z": 0.0009570211987011135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00033537019044160843,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2498.918701171875,
                        "z": 365.0658874511719
                    },
                    "rotation": {
                        "roll": -0.0005493167554959655,
                        "pitch": 0.28576144576072693,
                        "yaw": 90.22058868408203
                    }
                },
                "velocity": {
                    "x": 0.0001603936980245635,
                    "y": -0.00018974039994645864,
                    "z": -0.00022526785323861986
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000858835584949702,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": 7.916995855339337e-06,
                    "y": -2.0519699319265783e-05,
                    "z": 0.0008585539180785418
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1605730950832367,
        "expert_target_speed": 0.0,
        "target_point": [
            28.167597720630884,
            8.862136961573
        ],
        "target_point_next": [
            28.167597720630884,
            8.862136961573
        ]
    },
    "470": {
        "acceleration": [
            -0.18627479672431946,
            0.06729885935783386,
            -0.010793114081025124
        ],
        "angular_velocity": [
            0.01094081811606884,
            0.021050961688160896,
            0.024439161643385887
        ],
        "forward_vector": [
            -0.9424936175346375,
            0.3336716890335083,
            -0.01920975185930729
        ],
        "right_vector": [
            -0.3336022198200226,
            -0.9426892995834351,
            -0.006808033213019371
        ],
        "location": [
            2177.654052734375,
            2523.487060546875,
            365.0103759765625
        ],
        "rotation": [
            0.3901465833187103,
            -1.1007053852081299,
            160.5044708251953
        ],
        "velocity": [
            -0.10599180310964584,
            0.036194682121276855,
            -0.0021807574667036533
        ],
        "speed": 0.11200141668878215,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.561471462249756,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.408426761627197,
                "transform": {
                    "location": {
                        "x": 2187.80615234375,
                        "y": 2573.411865234375,
                        "z": 365.068115234375
                    },
                    "rotation": {
                        "roll": 0.00159065006300807,
                        "pitch": 0.5366820693016052,
                        "yaw": -89.47539520263672
                    }
                },
                "velocity": {
                    "x": 0.05534471571445465,
                    "y": -5.408048629760742,
                    "z": 0.03199327364563942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.157470703125,
                        "y": 2452.40576171875,
                        "z": 364.6903381347656
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5552525520324707,
                "transform": {
                    "location": {
                        "x": 2148.07470703125,
                        "y": 2527.364990234375,
                        "z": 364.7513122558594
                    },
                    "rotation": {
                        "roll": 0.00039449031464755535,
                        "pitch": -0.1983555108308792,
                        "yaw": -0.053009022027254105
                    }
                },
                "velocity": {
                    "x": 1.5552406311035156,
                    "y": -0.00149820395745337,
                    "z": -0.00589642534032464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.637743353843689,
                "transform": {
                    "location": {
                        "x": 2228.8046875,
                        "y": 2524.287109375,
                        "z": 366.31768798828125
                    },
                    "rotation": {
                        "roll": -0.0307311974465847,
                        "pitch": -1.8471357822418213,
                        "yaw": -179.34133911132812
                    }
                },
                "velocity": {
                    "x": -1.6369560956954956,
                    "y": -0.007893695496022701,
                    "z": -0.05015883222222328
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5410287976264954,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.38720703125,
                        "z": 365.1257629394531
                    },
                    "rotation": {
                        "roll": 0.001881704549305141,
                        "pitch": 0.3097763955593109,
                        "yaw": -89.77911376953125
                    }
                },
                "velocity": {
                    "x": 0.0011514137731865048,
                    "y": -0.5410242676734924,
                    "z": 0.001900148345157504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.023654460906982,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2465.60595703125,
                        "z": 364.81884765625
                    },
                    "rotation": {
                        "roll": 0.0041139801032841206,
                        "pitch": 1.025450348854065,
                        "yaw": 90.3138656616211
                    }
                },
                "velocity": {
                    "x": -0.01813129521906376,
                    "y": 4.023428440093994,
                    "z": 0.03861863166093826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.277217388153076,
                "transform": {
                    "location": {
                        "x": 2214.435791015625,
                        "y": 2524.284423828125,
                        "z": 365.88232421875
                    },
                    "rotation": {
                        "roll": -0.004272460471838713,
                        "pitch": -1.5663740634918213,
                        "yaw": -179.96031188964844
                    }
                },
                "velocity": {
                    "x": -2.276265859603882,
                    "y": 0.001697521423920989,
                    "z": -0.06580353528261185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.169476270675659,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2549.398681640625,
                        "z": 365.1920166015625
                    },
                    "rotation": {
                        "roll": 0.0003192126168869436,
                        "pitch": 0.1671483814716339,
                        "yaw": -89.90718078613281
                    }
                },
                "velocity": {
                    "x": 0.0035445920657366514,
                    "y": -2.1694724559783936,
                    "z": 0.0018923187162727118
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012962552718818188,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.084716796875,
                        "z": 364.97601318359375
                    },
                    "rotation": {
                        "roll": 0.0005578130949288607,
                        "pitch": 0.2535366117954254,
                        "yaw": 89.99401092529297
                    }
                },
                "velocity": {
                    "x": 5.452698314911686e-05,
                    "y": -0.001234989264048636,
                    "z": 0.0003900076262652874
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003051254025194794,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.287125532049686e-05,
                    "y": 4.0092803828883916e-05,
                    "z": 0.00029782328056171536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.016178155317902565,
                "transform": {
                    "location": {
                        "x": 2200.557373046875,
                        "y": 2524.279052734375,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.011138915084302425,
                        "pitch": -1.9363380670547485,
                        "yaw": -179.0400848388672
                    }
                },
                "velocity": {
                    "x": -0.016155527904629707,
                    "y": -0.0006579357432201505,
                    "z": -0.000546558469068259
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.544804334640503,
                "transform": {
                    "location": {
                        "x": 2187.77197265625,
                        "y": 2538.1337890625,
                        "z": 365.1634216308594
                    },
                    "rotation": {
                        "roll": 0.013193277642130852,
                        "pitch": 0.13037464022636414,
                        "yaw": -92.78497314453125
                    }
                },
                "velocity": {
                    "x": -0.20852528512477875,
                    "y": -3.538665294647217,
                    "z": -0.0017586516914889216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.470485121011734,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.78662109375,
                        "z": 365.0094299316406
                    },
                    "rotation": {
                        "roll": 0.0015158404130488634,
                        "pitch": 0.4438803195953369,
                        "yaw": 90.00178527832031
                    }
                },
                "velocity": {
                    "x": -0.00038117278018034995,
                    "y": 0.47047850489616394,
                    "z": 0.002464942866936326
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021396976080723107,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.836926437856164e-06,
                    "y": -5.027273459745629e-07,
                    "z": 0.00021374292555265129
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00038262270390987396,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0449811270518694e-05,
                    "y": 8.617423077339481e-07,
                    "z": 0.00038247901829890907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00015168894606176764,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2498.918701171875,
                        "z": 365.06585693359375
                    },
                    "rotation": {
                        "roll": 0.00030849644099362195,
                        "pitch": 0.29366397857666016,
                        "yaw": 90.22058868408203
                    }
                },
                "velocity": {
                    "x": 1.1504871508805081e-06,
                    "y": -7.417816232191399e-05,
                    "z": 0.00013230953481979668
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007771568489260972,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -3.14687131321989e-05,
                    "y": 3.383960574865341e-06,
                    "z": 0.0007765120826661587
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1775997132062912,
        "expert_target_speed": 0.0,
        "target_point": [
            28.141262146707305,
            8.861126388764522
        ],
        "target_point_next": [
            28.141262146707305,
            8.861126388764522
        ]
    },
    "475": {
        "acceleration": [
            0.2584613859653473,
            -0.09254187345504761,
            0.0023206695914268494
        ],
        "angular_velocity": [
            -0.021785834804177284,
            -0.04516405612230301,
            -0.005138707347214222
        ],
        "forward_vector": [
            -0.942491888999939,
            0.333673357963562,
            -0.019263505935668945
        ],
        "right_vector": [
            -0.3336038887500763,
            -0.9426887035369873,
            -0.006808120757341385
        ],
        "location": [
            2177.62939453125,
            2523.495361328125,
            365.0099182128906
        ],
        "rotation": [
            0.3901519775390625,
            -1.1037858724594116,
            160.5043487548828
        ],
        "velocity": [
            -0.09226857125759125,
            0.03125255927443504,
            -0.002016840036958456
        ],
        "speed": 0.0974177176037258,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.535841941833496,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.345461845397949,
                "transform": {
                    "location": {
                        "x": 2187.818359375,
                        "y": 2572.20654296875,
                        "z": 365.07427978515625
                    },
                    "rotation": {
                        "roll": 0.0022310232743620872,
                        "pitch": 0.13404928147792816,
                        "yaw": -89.45565795898438
                    }
                },
                "velocity": {
                    "x": 0.03638241067528725,
                    "y": -3.3452162742614746,
                    "z": 0.01787424087524414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.156005859375,
                        "y": 2453.65576171875,
                        "z": 364.7039489746094
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.048689603805542,
                "transform": {
                    "location": {
                        "x": 2148.5234375,
                        "y": 2527.364990234375,
                        "z": 364.74951171875
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.1992161124944687,
                        "yaw": -0.048248291015625
                    }
                },
                "velocity": {
                    "x": 2.048679828643799,
                    "y": -0.0017252529505640268,
                    "z": -0.006107645109295845
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.0699422359466553,
                "transform": {
                    "location": {
                        "x": 2228.2119140625,
                        "y": 2524.283935546875,
                        "z": 366.2965087890625
                    },
                    "rotation": {
                        "roll": -0.015045166946947575,
                        "pitch": -1.4697542190551758,
                        "yaw": -179.4208984375
                    }
                },
                "velocity": {
                    "x": -3.068450450897217,
                    "y": -0.013028053566813469,
                    "z": -0.09480249881744385
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2770916223526,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.154541015625,
                        "z": 365.1261291503906
                    },
                    "rotation": {
                        "roll": 0.001913981162942946,
                        "pitch": 0.45706257224082947,
                        "yaw": -89.78353881835938
                    }
                },
                "velocity": {
                    "x": 0.002336184261366725,
                    "y": -1.2770841121673584,
                    "z": 0.0037199018988758326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.269084453582764,
                "transform": {
                    "location": {
                        "x": 2185.056396484375,
                        "y": 2466.7802734375,
                        "z": 364.8296813964844
                    },
                    "rotation": {
                        "roll": 0.01100640557706356,
                        "pitch": 1.0953232049942017,
                        "yaw": 90.25785064697266
                    }
                },
                "velocity": {
                    "x": -0.016231991350650787,
                    "y": 5.268815994262695,
                    "z": 0.050666119903326035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.30508044362068176,
                "transform": {
                    "location": {
                        "x": 2214.23779296875,
                        "y": 2524.28466796875,
                        "z": 365.87628173828125
                    },
                    "rotation": {
                        "roll": -0.004974365234375,
                        "pitch": -1.861690878868103,
                        "yaw": 179.99183654785156
                    }
                },
                "velocity": {
                    "x": -0.3049549162387848,
                    "y": 0.0006631605792790651,
                    "z": -0.008725728839635849
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.4429593086242676,
                "transform": {
                    "location": {
                        "x": 2187.904052734375,
                        "y": 2548.70068359375,
                        "z": 365.1925964355469
                    },
                    "rotation": {
                        "roll": 3.515168646117672e-05,
                        "pitch": 0.20638097822666168,
                        "yaw": -89.90873718261719
                    }
                },
                "velocity": {
                    "x": 0.005437636282294989,
                    "y": -3.4429523944854736,
                    "z": 0.004273338243365288
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012059822911396623,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.085693359375,
                        "z": 364.97467041015625
                    },
                    "rotation": {
                        "roll": 8.21777866804041e-05,
                        "pitch": 0.4072636663913727,
                        "yaw": 89.99403381347656
                    }
                },
                "velocity": {
                    "x": 7.440186891471967e-06,
                    "y": -0.0004117063363082707,
                    "z": 0.001133505953475833
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015801270492374897,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -7.920309872133657e-05,
                    "y": 3.179255827490124e-07,
                    "z": 0.0015781407710164785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004217428155243397,
                "transform": {
                    "location": {
                        "x": 2200.55615234375,
                        "y": 2524.279052734375,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.019134521484375,
                        "pitch": -1.6376948356628418,
                        "yaw": -179.04026794433594
                    }
                },
                "velocity": {
                    "x": 0.004031363409012556,
                    "y": 0.00043209490831941366,
                    "z": 0.0011610774090513587
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.855578660964966,
                "transform": {
                    "location": {
                        "x": 2187.72412109375,
                        "y": 2537.349365234375,
                        "z": 365.1628112792969
                    },
                    "rotation": {
                        "roll": 0.006894933991134167,
                        "pitch": -0.06820626556873322,
                        "yaw": -93.12542724609375
                    }
                },
                "velocity": {
                    "x": -0.1767088919878006,
                    "y": -2.8501055240631104,
                    "z": -0.0012201881036162376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5133529901504517,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.032958984375,
                        "z": 365.01104736328125
                    },
                    "rotation": {
                        "roll": 0.00021532116807065904,
                        "pitch": 0.5558953881263733,
                        "yaw": 90.01499938964844
                    }
                },
                "velocity": {
                    "x": -0.0020153282675892115,
                    "y": 1.5133188962936401,
                    "z": 0.009942588396370411
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.433174035511911e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 6.973631570872385e-06,
                    "y": 1.6292495956804487e-06,
                    "z": 4.374948184704408e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010033260332420468,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.182897545339074e-06,
                    "y": -4.532053480943432e-06,
                    "z": 0.0010032823774963617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004204542492516339,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2498.9189453125,
                        "z": 365.06585693359375
                    },
                    "rotation": {
                        "roll": -0.00021361969993449748,
                        "pitch": 0.2973659336566925,
                        "yaw": 90.22059631347656
                    }
                },
                "velocity": {
                    "x": 4.462320248421747e-06,
                    "y": -3.918185939255636e-06,
                    "z": -0.00042041231063194573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001304397010244429,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -2.2062091375119053e-05,
                    "y": 1.5189870339327172e-07,
                    "z": 0.00012856032117269933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.17804697155952454,
        "expert_target_speed": 0.0,
        "target_point": [
            28.11523051137471,
            8.860775633026167
        ],
        "target_point_next": [
            28.11523051137471,
            8.860775633026167
        ]
    },
    "480": {
        "acceleration": [
            -0.17572283744812012,
            0.062342919409275055,
            -0.012493706308305264
        ],
        "angular_velocity": [
            0.050847843289375305,
            0.013252133503556252,
            -0.011371397413313389
        ],
        "forward_vector": [
            -0.9424843192100525,
            0.3336949646472931,
            -0.019258856773376465
        ],
        "right_vector": [
            -0.3336251974105835,
            -0.942681074142456,
            -0.006822587456554174
        ],
        "location": [
            2177.605224609375,
            2523.503662109375,
            365.0094299316406
        ],
        "rotation": [
            0.3909810185432434,
            -1.1035194396972656,
            160.50303649902344
        ],
        "velocity": [
            -0.10089096426963806,
            0.034280773252248764,
            -0.0026050948072224855
        ],
        "speed": 0.10655589184099337,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.510697364807129,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.48345884680747986,
                "transform": {
                    "location": {
                        "x": 2187.82177734375,
                        "y": 2571.89404296875,
                        "z": 365.0757751464844
                    },
                    "rotation": {
                        "roll": 0.0015932871028780937,
                        "pitch": -0.0942702665925026,
                        "yaw": -89.5023193359375
                    }
                },
                "velocity": {
                    "x": 0.004539163783192635,
                    "y": -0.48342862725257874,
                    "z": 0.0029360007029026747
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01270684041082859,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2454.072509765625,
                        "z": 364.7068786621094
                    },
                    "rotation": {
                        "roll": 0.0008471788605675101,
                        "pitch": 0.6140954494476318,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.00012887119373772293,
                    "y": -8.999391866382211e-05,
                    "z": -0.012705868110060692
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06811872124671936,
                "transform": {
                    "location": {
                        "x": 2148.912353515625,
                        "y": 2527.36474609375,
                        "z": 364.748779296875
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.2676682770252228,
                        "yaw": -0.049804676324129105
                    }
                },
                "velocity": {
                    "x": 0.06811821460723877,
                    "y": -0.00010759481665445492,
                    "z": 0.00024003982252907008
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.10145902633667,
                "transform": {
                    "location": {
                        "x": 2227.18505859375,
                        "y": 2524.27880859375,
                        "z": 366.2633056640625
                    },
                    "rotation": {
                        "roll": -0.008514403365552425,
                        "pitch": -1.2981866598129272,
                        "yaw": -179.57528686523438
                    }
                },
                "velocity": {
                    "x": -5.099024295806885,
                    "y": -0.018704431131482124,
                    "z": -0.15648120641708374
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.179948091506958,
                "transform": {
                    "location": {
                        "x": 2187.888427734375,
                        "y": 2559.723388671875,
                        "z": 365.12738037109375
                    },
                    "rotation": {
                        "roll": 0.0044549982994794846,
                        "pitch": 0.5353638529777527,
                        "yaw": -89.84697723388672
                    }
                },
                "velocity": {
                    "x": 0.004884286783635616,
                    "y": -2.179929256439209,
                    "z": 0.0076237390749156475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02930562198162079,
                "transform": {
                    "location": {
                        "x": 2185.048583984375,
                        "y": 2467.50146484375,
                        "z": 364.8421325683594
                    },
                    "rotation": {
                        "roll": 0.021482078358530998,
                        "pitch": -0.5227075219154358,
                        "yaw": 89.6653823852539
                    }
                },
                "velocity": {
                    "x": -0.0075513869524002075,
                    "y": 0.028263205662369728,
                    "z": -0.0017283667111769319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3649744987487793,
                "transform": {
                    "location": {
                        "x": 2214.013427734375,
                        "y": 2524.284423828125,
                        "z": 365.87017822265625
                    },
                    "rotation": {
                        "roll": -0.005340574309229851,
                        "pitch": -1.5775755643844604,
                        "yaw": -179.94876098632812
                    }
                },
                "velocity": {
                    "x": -1.3644192218780518,
                    "y": 0.00048126428737305105,
                    "z": -0.03892521932721138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.100193023681641,
                "transform": {
                    "location": {
                        "x": 2187.906005859375,
                        "y": 2547.69677734375,
                        "z": 365.19427490234375
                    },
                    "rotation": {
                        "roll": -0.00018310194718651474,
                        "pitch": 0.17558366060256958,
                        "yaw": -89.911376953125
                    }
                },
                "velocity": {
                    "x": 0.006458808667957783,
                    "y": -4.100183010101318,
                    "z": 0.006322059314697981
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001117751351557672,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743957519531
                    },
                    "rotation": {
                        "roll": 2.993632915604394e-05,
                        "pitch": 0.44274649024009705,
                        "yaw": 89.99408721923828
                    }
                },
                "velocity": {
                    "x": 7.251400529639795e-05,
                    "y": -9.337782830698416e-05,
                    "z": 0.0011114812223240733
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009402990690432489,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.793260399717838e-05,
                    "y": -7.576511961815413e-06,
                    "z": 0.0009378113318234682
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0018786996370181441,
                "transform": {
                    "location": {
                        "x": 2200.5546875,
                        "y": 2524.279052734375,
                        "z": 365.5172119140625
                    },
                    "rotation": {
                        "roll": -0.0245056115090847,
                        "pitch": -1.4725067615509033,
                        "yaw": -179.04037475585938
                    }
                },
                "velocity": {
                    "x": 0.000854785437695682,
                    "y": 0.0004423797654453665,
                    "z": 0.0016134293982759118
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5088,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.996058464050293,
                "transform": {
                    "location": {
                        "x": 2187.67724609375,
                        "y": 2536.61328125,
                        "z": 365.16229248046875
                    },
                    "rotation": {
                        "roll": 0.006159529555588961,
                        "pitch": -0.030367018654942513,
                        "yaw": -93.36412811279297
                    }
                },
                "velocity": {
                    "x": -0.1910082846879959,
                    "y": -2.9899630546569824,
                    "z": -0.0020075796637684107
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.02243802696466446,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.412109375,
                        "z": 365.0133972167969
                    },
                    "rotation": {
                        "roll": 0.0009983682539314032,
                        "pitch": 0.21051324903964996,
                        "yaw": 90.019775390625
                    }
                },
                "velocity": {
                    "x": 0.00019586826965678483,
                    "y": 0.02243482507765293,
                    "z": 0.0003246238047722727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00025966408429667354,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.8664821254787967e-05,
                    "y": -1.5532312318100594e-05,
                    "z": 0.0002585262118373066
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006667323759756982,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.695934588497039e-05,
                    "y": -3.552943098839023e-06,
                    "z": 0.000666507170535624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014390370051842183,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2498.9189453125,
                        "z": 365.06585693359375
                    },
                    "rotation": {
                        "roll": -0.00021361969993449748,
                        "pitch": 0.2973659336566925,
                        "yaw": 90.22059631347656
                    }
                },
                "velocity": {
                    "x": 5.025171412853524e-05,
                    "y": -3.649055724963546e-05,
                    "z": -0.00012981324107386172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009412993676960468,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -5.3140651289140806e-05,
                    "y": 8.222572432714514e-06,
                    "z": 0.000939762219786644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.18001370131969452,
        "expert_target_speed": 0.0,
        "target_point": [
            28.08946902972348,
            8.861190472050582
        ],
        "target_point_next": [
            28.08946902972348,
            8.861190472050582
        ]
    },
    "485": {
        "acceleration": [
            0.18908843398094177,
            -0.06711464375257492,
            0.003327180165797472
        ],
        "angular_velocity": [
            -0.02060624584555626,
            -0.045622989535331726,
            0.010111182928085327
        ],
        "forward_vector": [
            -0.9424884915351868,
            0.33368200063705444,
            -0.019282693043351173
        ],
        "right_vector": [
            -0.33361244201660156,
            -0.9426857233047485,
            -0.006811968982219696
        ],
        "location": [
            2177.581787109375,
            2523.511962890625,
            365.00897216796875
        ],
        "rotation": [
            0.3903726637363434,
            -1.104885458946228,
            160.50381469726562
        ],
        "velocity": [
            -0.08871109038591385,
            0.029924938455224037,
            -0.0018333053449168801
        ],
        "speed": 0.09362243053353572,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.486280918121338,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6995142698287964,
                "transform": {
                    "location": {
                        "x": 2187.82470703125,
                        "y": 2571.588134765625,
                        "z": 365.07806396484375
                    },
                    "rotation": {
                        "roll": 0.0011367428814992309,
                        "pitch": 0.3676622211933136,
                        "yaw": -89.53166198730469
                    }
                },
                "velocity": {
                    "x": 0.017496053129434586,
                    "y": -1.699396014213562,
                    "z": 0.009787550196051598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005420431029051542,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2454.072509765625,
                        "z": 364.70465087890625
                    },
                    "rotation": {
                        "roll": 0.0008912858320400119,
                        "pitch": 0.6246207356452942,
                        "yaw": 90.0604476928711
                    }
                },
                "velocity": {
                    "x": 9.508332732366398e-05,
                    "y": -2.093046896334272e-05,
                    "z": -0.005419556517153978
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9398716688156128,
                "transform": {
                    "location": {
                        "x": 2149.056396484375,
                        "y": 2527.36474609375,
                        "z": 364.7477111816406
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.22327204048633575,
                        "yaw": -0.0362548790872097
                    }
                },
                "velocity": {
                    "x": 0.9398667812347412,
                    "y": -0.0007049934938549995,
                    "z": -0.0029612064827233553
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.175888538360596,
                "transform": {
                    "location": {
                        "x": 2225.89404296875,
                        "y": 2524.277099609375,
                        "z": 366.2266845703125
                    },
                    "rotation": {
                        "roll": -0.029876703396439552,
                        "pitch": -1.704740047454834,
                        "yaw": -179.28785705566406
                    }
                },
                "velocity": {
                    "x": -4.173830032348633,
                    "y": -0.01490369625389576,
                    "z": -0.1302502453327179
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3606311082839966,
                "transform": {
                    "location": {
                        "x": 2187.8896484375,
                        "y": 2559.176513671875,
                        "z": 365.1301574707031
                    },
                    "rotation": {
                        "roll": 0.001635525724850595,
                        "pitch": 0.25012150406837463,
                        "yaw": -89.78451538085938
                    }
                },
                "velocity": {
                    "x": 0.00042740607750602067,
                    "y": -1.3606245517730713,
                    "z": 0.004196958616375923
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3140990734100342,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2467.667724609375,
                        "z": 364.84100341796875
                    },
                    "rotation": {
                        "roll": 0.013923568651080132,
                        "pitch": 0.15999716520309448,
                        "yaw": 89.6949691772461
                    }
                },
                "velocity": {
                    "x": 0.000587448594160378,
                    "y": 1.3140370845794678,
                    "z": 0.012741165235638618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.472545862197876,
                "transform": {
                    "location": {
                        "x": 2213.5244140625,
                        "y": 2524.28466796875,
                        "z": 365.8564453125
                    },
                    "rotation": {
                        "roll": -0.0036621089093387127,
                        "pitch": -1.4939261674880981,
                        "yaw": -179.95350646972656
                    }
                },
                "velocity": {
                    "x": -2.4715864658355713,
                    "y": 0.0017375221941620111,
                    "z": -0.06885073333978653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7659101486206055,
                "transform": {
                    "location": {
                        "x": 2187.90771484375,
                        "y": 2546.84375,
                        "z": 365.19671630859375
                    },
                    "rotation": {
                        "roll": 0.0005322670331224799,
                        "pitch": -0.015955321490764618,
                        "yaw": -89.90985107421875
                    }
                },
                "velocity": {
                    "x": 0.004206428304314613,
                    "y": -2.76590633392334,
                    "z": 0.0016331386286765337
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014200074365362525,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -1.0472957001184113e-05,
                    "y": -3.760255640372634e-05,
                    "z": 0.0014194708783179522
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013436716108117253,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -3.837823896901682e-05,
                    "y": 1.3988089449412655e-05,
                    "z": 0.0001280077121919021
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00047520469524897635,
                "transform": {
                    "location": {
                        "x": 2200.554443359375,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268554650247097,
                        "pitch": -1.4449400901794434,
                        "yaw": -179.04046630859375
                    }
                },
                "velocity": {
                    "x": 0.00025979382917284966,
                    "y": 2.6105679353349842e-05,
                    "z": 0.00039704551454633474
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002405745442956686,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.412109375,
                        "z": 365.013427734375
                    },
                    "rotation": {
                        "roll": 0.0013981874799355865,
                        "pitch": 0.24838665127754211,
                        "yaw": 90.01976776123047
                    }
                },
                "velocity": {
                    "x": -0.00021341588580980897,
                    "y": -0.002336258301511407,
                    "z": -0.0005328813567757607
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.404721377999522e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.8103793308910099e-06,
                    "y": -2.7709727874025702e-05,
                    "z": -4.6368037146748975e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014767485845368356,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.923058547021355e-06,
                    "y": -3.780459883273579e-05,
                    "z": -0.00014253387053031474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.32243940234184265,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.94189453125,
                        "z": 365.06573486328125
                    },
                    "rotation": {
                        "roll": 0.002657302189618349,
                        "pitch": 0.35805216431617737,
                        "yaw": 90.22593688964844
                    }
                },
                "velocity": {
                    "x": 0.0015013905940577388,
                    "y": 0.32242923974990845,
                    "z": 0.0020723247434943914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00044462786172516644,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.60400390625,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": -0.00030517889535985887,
                        "pitch": 0.18220211565494537,
                        "yaw": 90.33865356445312
                    }
                },
                "velocity": {
                    "x": -8.806479308987036e-05,
                    "y": 1.6241147022810765e-05,
                    "z": 0.00043551664566621184
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.13366727530956268,
        "expert_target_speed": 0.0,
        "target_point": [
            28.064727544500133,
            8.860804765434041
        ],
        "target_point_next": [
            28.064727544500133,
            8.860804765434041
        ]
    },
    "490": {
        "acceleration": [
            -0.201808363199234,
            0.07493138313293457,
            -0.008661460131406784
        ],
        "angular_velocity": [
            -0.029582343995571136,
            0.058524761348962784,
            -0.013334308750927448
        ],
        "forward_vector": [
            -0.9424731731414795,
            0.3337271511554718,
            -0.019246460869908333
        ],
        "right_vector": [
            -0.33365780115127563,
            -0.942669689655304,
            -0.006803501397371292
        ],
        "location": [
            2177.557373046875,
            2523.520263671875,
            365.0084228515625
        ],
        "rotation": [
            0.38988715410232544,
            -1.1028090715408325,
            160.50108337402344
        ],
        "velocity": [
            -0.1025160402059555,
            0.034887585788965225,
            -0.0019540023058652878
        ],
        "speed": 0.10828980626860266,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.460901260375977,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3065989017486572,
                "transform": {
                    "location": {
                        "x": 2187.830322265625,
                        "y": 2571.046630859375,
                        "z": 365.08111572265625
                    },
                    "rotation": {
                        "roll": 0.0016017724992707372,
                        "pitch": 0.40468868613243103,
                        "yaw": -89.54598236083984
                    }
                },
                "velocity": {
                    "x": 0.024476036429405212,
                    "y": -2.306429624557495,
                    "z": 0.013502025045454502
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.1796724796295166,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2454.07568359375,
                        "z": 364.7041015625
                    },
                    "rotation": {
                        "roll": 0.0015843567671254277,
                        "pitch": 0.6430964469909668,
                        "yaw": 90.06169128417969
                    }
                },
                "velocity": {
                    "x": -0.001756463316269219,
                    "y": 0.17966389656066895,
                    "z": 2.5320052372990176e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4631786346435547,
                "transform": {
                    "location": {
                        "x": 2149.361328125,
                        "y": 2527.364501953125,
                        "z": 364.7464294433594
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.19998109340667725,
                        "yaw": -0.024139404296875
                    }
                },
                "velocity": {
                    "x": 1.463165521621704,
                    "y": -0.001800095895305276,
                    "z": -0.00592052424326539
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002460104413330555,
                "transform": {
                    "location": {
                        "x": 2225.525146484375,
                        "y": 2524.28759765625,
                        "z": 366.2244567871094
                    },
                    "rotation": {
                        "roll": -0.1145629957318306,
                        "pitch": -2.848543882369995,
                        "yaw": -178.19012451171875
                    }
                },
                "velocity": {
                    "x": 5.152761877980083e-05,
                    "y": 0.0024577409494668245,
                    "z": -9.469938959227875e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7396864295005798,
                "transform": {
                    "location": {
                        "x": 2187.889404296875,
                        "y": 2559.0859375,
                        "z": 365.1317443847656
                    },
                    "rotation": {
                        "roll": -0.0002136237162631005,
                        "pitch": -0.08166173845529556,
                        "yaw": -89.71334838867188
                    }
                },
                "velocity": {
                    "x": 0.00037030252860859036,
                    "y": -0.7396833896636963,
                    "z": 0.0020811462309211493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3249409198760986,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.143310546875,
                        "z": 364.84326171875
                    },
                    "rotation": {
                        "roll": -0.002716026036068797,
                        "pitch": 0.7381999492645264,
                        "yaw": 89.724853515625
                    }
                },
                "velocity": {
                    "x": -0.0011619140859693289,
                    "y": 2.3248438835144043,
                    "z": 0.021195393055677414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7488098144531
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2820799648761749,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.839116096496582,
                "transform": {
                    "location": {
                        "x": 2212.7421875,
                        "y": 2524.28564453125,
                        "z": 365.83489990234375
                    },
                    "rotation": {
                        "roll": -0.0020751953125,
                        "pitch": -1.407893180847168,
                        "yaw": -179.99200439453125
                    }
                },
                "velocity": {
                    "x": -3.837634563446045,
                    "y": 0.004092742223292589,
                    "z": -0.1065644919872284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.510678291320801,
                "transform": {
                    "location": {
                        "x": 2187.90771484375,
                        "y": 2546.226318359375,
                        "z": 365.197021484375
                    },
                    "rotation": {
                        "roll": -0.0008544925367459655,
                        "pitch": 0.0056622265838086605,
                        "yaw": -89.92230224609375
                    }
                },
                "velocity": {
                    "x": 0.0036227304954081774,
                    "y": -2.5106754302978516,
                    "z": 0.0011761855566874146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006275943596847355,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -4.418184471433051e-05,
                    "y": -1.2377053280943073e-05,
                    "z": 0.0006259148940443993
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010787961073219776,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.016924817231484e-05,
                    "y": -9.47423544062076e-08,
                    "z": 0.001077116816304624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013705228047911078,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -1.8911809092969634e-05,
                    "y": -0.00013448494428303093,
                    "z": -1.84247073775623e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007880463963374496,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.4130859375,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": -6.101924736867659e-05,
                        "pitch": 0.3462495803833008,
                        "yaw": 90.01980590820312
                    }
                },
                "velocity": {
                    "x": -0.00015118447481654584,
                    "y": -0.0005730207776650786,
                    "z": -0.0005194299737922847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1790714274393395e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 6.974860866648669e-07,
                    "y": 2.1986514184391126e-05,
                    "z": -2.2951171558815986e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008230297244153917,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.06488541860017e-05,
                    "y": 1.368708490190329e-05,
                    "z": 0.0008228470105677843
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005143127869814634,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2499.047119140625,
                        "z": 365.06658935546875
                    },
                    "rotation": {
                        "roll": -0.0008239675662480295,
                        "pitch": 0.27272260189056396,
                        "yaw": 90.25919342041016
                    }
                },
                "velocity": {
                    "x": 0.0003343733842484653,
                    "y": 0.005065055564045906,
                    "z": -0.000827748968731612
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.13258673250675201,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.61376953125,
                        "z": 365.1164855957031
                    },
                    "rotation": {
                        "roll": 0.001216601813212037,
                        "pitch": 0.20539744198322296,
                        "yaw": 90.32669830322266
                    }
                },
                "velocity": {
                    "x": 0.0004969081492163241,
                    "y": 0.13257835805416107,
                    "z": 0.0014043425908312201
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.14549925923347473,
        "expert_target_speed": 0.0,
        "target_point": [
            28.038520424298007,
            8.861818557776585
        ],
        "target_point_next": [
            28.038520424298007,
            8.861818557776585
        ]
    },
    "495": {
        "acceleration": [
            0.18863514065742493,
            -0.06650608032941818,
            0.002450370229780674
        ],
        "angular_velocity": [
            -0.05988634005188942,
            -0.0035343091003596783,
            0.011378753930330276
        ],
        "forward_vector": [
            -0.9424616694450378,
            0.33375826478004456,
            -0.019270895048975945
        ],
        "right_vector": [
            -0.33368900418281555,
            -0.9426586627960205,
            -0.006799400318413973
        ],
        "location": [
            2177.53369140625,
            2523.528564453125,
            365.0080261230469
        ],
        "rotation": [
            0.3896523118019104,
            -1.104209303855896,
            160.4991912841797
        ],
        "velocity": [
            -0.08976677060127258,
            0.030426600947976112,
            -0.0018748664297163486
        ],
        "speed": 0.09478317967566227,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.436251163482666,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3639141917228699,
                "transform": {
                    "location": {
                        "x": 2187.83203125,
                        "y": 2570.799072265625,
                        "z": 365.0821838378906
                    },
                    "rotation": {
                        "roll": 0.0032252930104732513,
                        "pitch": 0.07904577255249023,
                        "yaw": -89.7167739868164
                    }
                },
                "velocity": {
                    "x": 0.0023400576319545507,
                    "y": -0.36390379071235657,
                    "z": 0.0014503193087875843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.528296709060669,
                "transform": {
                    "location": {
                        "x": 2185.153076171875,
                        "y": 2454.32861328125,
                        "z": 364.7052917480469
                    },
                    "rotation": {
                        "roll": -0.010620086453855038,
                        "pitch": 0.9938061237335205,
                        "yaw": 90.14130401611328
                    }
                },
                "velocity": {
                    "x": -0.01959419995546341,
                    "y": 1.5280941724777222,
                    "z": 0.01534208282828331
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.934961199760437,
                "transform": {
                    "location": {
                        "x": 2149.789794921875,
                        "y": 2527.364501953125,
                        "z": 364.7447509765625
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -0.2007119208574295,
                        "yaw": -0.0343322716653347
                    }
                },
                "velocity": {
                    "x": 1.9349488019943237,
                    "y": -0.0020275188144296408,
                    "z": -0.006631059572100639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.49738070368766785,
                "transform": {
                    "location": {
                        "x": 2225.485595703125,
                        "y": 2524.287109375,
                        "z": 366.2161560058594
                    },
                    "rotation": {
                        "roll": -0.07247922569513321,
                        "pitch": -1.9548273086547852,
                        "yaw": -178.20851135253906
                    }
                },
                "velocity": {
                    "x": -0.49715888500213623,
                    "y": -0.0034445656929165125,
                    "z": -0.014447583816945553
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6375421285629272,
                "transform": {
                    "location": {
                        "x": 2187.889404296875,
                        "y": 2558.78466796875,
                        "z": 365.1310729980469
                    },
                    "rotation": {
                        "roll": 0.0007885951199568808,
                        "pitch": 0.35419991612434387,
                        "yaw": -89.7055892944336
                    }
                },
                "velocity": {
                    "x": 0.004886906128376722,
                    "y": -1.6375306844711304,
                    "z": 0.003733139019459486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0179411843419075,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.56298828125,
                        "z": 364.8494567871094
                    },
                    "rotation": {
                        "roll": 0.009418453089892864,
                        "pitch": 0.12501294910907745,
                        "yaw": 89.6490249633789
                    }
                },
                "velocity": {
                    "x": -0.000889811955858022,
                    "y": 0.017918962985277176,
                    "z": 7.144983828766271e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0026180464774370193,
                "transform": {
                    "location": {
                        "x": 2160.3037109375,
                        "y": 2527.345947265625,
                        "z": 364.7486267089844
                    },
                    "rotation": {
                        "roll": -0.0027160642202943563,
                        "pitch": 0.2881178557872772,
                        "yaw": -0.1288451999425888
                    }
                },
                "velocity": {
                    "x": 3.179684199494659e-06,
                    "y": 1.8165141000281437e-06,
                    "z": -0.002618043916299939
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.56265926361084,
                "transform": {
                    "location": {
                        "x": 2211.62890625,
                        "y": 2524.287109375,
                        "z": 365.8039855957031
                    },
                    "rotation": {
                        "roll": -0.0017395020695403218,
                        "pitch": -1.4196479320526123,
                        "yaw": 179.9579315185547
                    }
                },
                "velocity": {
                    "x": -4.56089973449707,
                    "y": 0.006506314035505056,
                    "z": -0.1265304684638977
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.63653564453125,
                "transform": {
                    "location": {
                        "x": 2187.909423828125,
                        "y": 2545.467529296875,
                        "z": 365.19659423828125
                    },
                    "rotation": {
                        "roll": 0.0001958547654794529,
                        "pitch": 0.12047086656093597,
                        "yaw": -89.91834259033203
                    }
                },
                "velocity": {
                    "x": 0.005095634143799543,
                    "y": -3.6365318298339844,
                    "z": 0.001771850511431694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014921471010893583,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": 1.223334766109474e-05,
                    "y": -3.9927810576045886e-05,
                    "z": 0.0014915625797584653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006032124510966241,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.9383361076470464e-05,
                    "y": -2.9795681257382967e-05,
                    "z": 0.0005995423998683691
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00018159716273657978,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -3.168225157423876e-05,
                    "y": 3.5146599657309707e-06,
                    "z": 0.00017877753998618573
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00026980097754858434,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": 0.00095305748982355,
                        "pitch": 0.3656131625175476,
                        "yaw": 90.01982879638672
                    }
                },
                "velocity": {
                    "x": -0.00013696819951292127,
                    "y": -0.00013433351705316454,
                    "z": -0.00018970183737110347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015000697749201208,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.8766484572552145e-05,
                    "y": -1.4675359125249088e-05,
                    "z": 0.00014810316497460008
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009699198417365551,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.3604499145003501e-05,
                    "y": -2.5745956008904614e-05,
                    "z": 0.000969482643995434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0016048277029767632,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2499.046875,
                        "z": 365.06671142578125
                    },
                    "rotation": {
                        "roll": -0.0011596879921853542,
                        "pitch": 0.23840774595737457,
                        "yaw": 90.25920104980469
                    }
                },
                "velocity": {
                    "x": 3.732520417543128e-05,
                    "y": -0.0007198309758678079,
                    "z": -0.0014338487526401877
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.849285364151001,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.732666015625,
                        "z": 365.1169128417969
                    },
                    "rotation": {
                        "roll": 0.0013827587245032191,
                        "pitch": 0.30014580488204956,
                        "yaw": 90.29923248291016
                    }
                },
                "velocity": {
                    "x": -0.001770727802067995,
                    "y": 0.8492813110351562,
                    "z": 0.0019326495239511132
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1476871222257614,
        "expert_target_speed": 0.0,
        "target_point": [
            28.013134686023328,
            8.86266029029611
        ],
        "target_point_next": [
            28.013134686023328,
            8.86266029029611
        ]
    },
    "500": {
        "acceleration": [
            -0.14623910188674927,
            0.04576191306114197,
            -0.005480386316776276
        ],
        "angular_velocity": [
            -0.01756957732141018,
            0.0817892998456955,
            0.0009258974459953606
        ],
        "forward_vector": [
            -0.9424104690551758,
            0.3339090347290039,
            -0.019164342433214188
        ],
        "right_vector": [
            -0.3338399827480316,
            -0.9426052570343018,
            -0.006791075691580772
        ],
        "location": [
            2177.508056640625,
            2523.537109375,
            365.0074462890625
        ],
        "rotation": [
            0.3891744315624237,
            -1.0981031656265259,
            160.4900665283203
        ],
        "velocity": [
            -0.12090391665697098,
            0.041280683130025864,
            -0.0023362827487289906
        ],
        "speed": 0.12775700318447278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.409634113311768,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3797767162322998,
                "transform": {
                    "location": {
                        "x": 2187.8330078125,
                        "y": 2570.576416015625,
                        "z": 365.0838317871094
                    },
                    "rotation": {
                        "roll": -0.00012209218402858824,
                        "pitch": 0.3703464865684509,
                        "yaw": -89.73355102539062
                    }
                },
                "velocity": {
                    "x": 0.007349627558141947,
                    "y": -1.379744291305542,
                    "z": 0.005964193027466536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.293844699859619,
                "transform": {
                    "location": {
                        "x": 2185.146728515625,
                        "y": 2454.82763671875,
                        "z": 364.71044921875
                    },
                    "rotation": {
                        "roll": -0.007202073931694031,
                        "pitch": 1.0165506601333618,
                        "yaw": 90.25142669677734
                    }
                },
                "velocity": {
                    "x": -0.03085234761238098,
                    "y": 2.293498992919922,
                    "z": 0.025179633870720863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000467015866888687,
                "transform": {
                    "location": {
                        "x": 2150.019287109375,
                        "y": 2527.3642578125,
                        "z": 364.7445983886719
                    },
                    "rotation": {
                        "roll": -0.001708984375,
                        "pitch": -0.2750858664512634,
                        "yaw": -0.03759765625
                    }
                },
                "velocity": {
                    "x": 2.293996431035339e-06,
                    "y": 8.126360626192763e-06,
                    "z": -0.000466939527541399
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3056766986846924,
                "transform": {
                    "location": {
                        "x": 2225.26708984375,
                        "y": 2524.28466796875,
                        "z": 366.2054748535156
                    },
                    "rotation": {
                        "roll": -0.0357360802590847,
                        "pitch": -1.4437857866287231,
                        "yaw": -178.3787841796875
                    }
                },
                "velocity": {
                    "x": -1.3050439357757568,
                    "y": -0.006172353867441416,
                    "z": -0.04017436504364014
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5711987018585205,
                "transform": {
                    "location": {
                        "x": 2187.8916015625,
                        "y": 2558.268798828125,
                        "z": 365.1321105957031
                    },
                    "rotation": {
                        "roll": 0.004012344870716333,
                        "pitch": 0.5262865424156189,
                        "yaw": -89.74938201904297
                    }
                },
                "velocity": {
                    "x": 0.005400628782808781,
                    "y": -2.5711824893951416,
                    "z": 0.007357044145464897
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7724703550338745,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.65869140625,
                        "z": 364.849365234375
                    },
                    "rotation": {
                        "roll": 0.0002857401268556714,
                        "pitch": 0.37507981061935425,
                        "yaw": 89.66078186035156
                    }
                },
                "velocity": {
                    "x": 0.0013271230272948742,
                    "y": 0.7724428176879883,
                    "z": 0.006383819505572319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.19326373934745789,
                "transform": {
                    "location": {
                        "x": 2160.318359375,
                        "y": 2527.345947265625,
                        "z": 364.7486877441406
                    },
                    "rotation": {
                        "roll": 1.1892930160684045e-05,
                        "pitch": 0.2943947911262512,
                        "yaw": -0.11807248741388321
                    }
                },
                "velocity": {
                    "x": 0.1932578682899475,
                    "y": -0.00032414644374512136,
                    "z": 0.0014718627789989114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.128469705581665,
                "transform": {
                    "location": {
                        "x": 2210.674560546875,
                        "y": 2524.2890625,
                        "z": 365.7772521972656
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -1.6670236587524414,
                        "yaw": 179.92498779296875
                    }
                },
                "velocity": {
                    "x": -3.1273415088653564,
                    "y": 0.005712148267775774,
                    "z": -0.08381456136703491
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.738942623138428,
                "transform": {
                    "location": {
                        "x": 2187.9111328125,
                        "y": 2544.392333984375,
                        "z": 365.1971740722656
                    },
                    "rotation": {
                        "roll": 0.0011134376982226968,
                        "pitch": 0.14367985725402832,
                        "yaw": -89.92650604248047
                    }
                },
                "velocity": {
                    "x": 0.003982191905379295,
                    "y": -4.738940715789795,
                    "z": 0.002157030161470175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007212428608909249,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -5.5513835832243785e-05,
                    "y": -1.4795287825108971e-05,
                    "z": 0.000718951050657779
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013471704442054033,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.295934144873172e-05,
                    "y": 8.447525033261627e-06,
                    "z": 0.001345671946182847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.30284092342481e-05,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -3.205537723260932e-05,
                    "y": 4.193896984361345e-06,
                    "z": -6.763124474673532e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022527943656314164,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": 0.0013049000408500433,
                        "pitch": 0.36993667483329773,
                        "yaw": 90.01982879638672
                    }
                },
                "velocity": {
                    "x": -7.83018913352862e-05,
                    "y": -7.80916161602363e-05,
                    "z": -0.00019626854918897152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.76797948370222e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 7.102451945684152e-06,
                    "y": 5.692883746633015e-07,
                    "z": 1.6180427337531e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001452799653634429,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.091083661071025e-05,
                    "y": -1.9444931240286678e-05,
                    "z": 0.0014525189762935042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.27561044692993164,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2499.068115234375,
                        "z": 365.06634521484375
                    },
                    "rotation": {
                        "roll": 0.0013016670709475875,
                        "pitch": 0.3366941511631012,
                        "yaw": 90.24673461914062
                    }
                },
                "velocity": {
                    "x": 0.0004243846924509853,
                    "y": 0.27560505270957947,
                    "z": 0.001671752892434597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5196542143821716,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2508.90234375,
                        "z": 365.11737060546875
                    },
                    "rotation": {
                        "roll": 0.0002688726526685059,
                        "pitch": 0.12771086394786835,
                        "yaw": 90.25757598876953
                    }
                },
                "velocity": {
                    "x": -0.001240409561432898,
                    "y": 0.5196493864059448,
                    "z": 0.0018569754902273417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1474025547504425,
        "expert_target_speed": 0.0,
        "target_point": [
            27.984706171574597,
            8.866614712654306
        ],
        "target_point_next": [
            27.984706171574597,
            8.866614712654306
        ]
    },
    "505": {
        "acceleration": [
            0.20155996084213257,
            -0.07459670305252075,
            -0.0010847114026546478
        ],
        "angular_velocity": [
            -0.020200183615088463,
            -0.07691965997219086,
            -0.01851235330104828
        ],
        "forward_vector": [
            -0.9424110651016235,
            0.333905965089798,
            -0.01918746344745159
        ],
        "right_vector": [
            -0.33383673429489136,
            -0.9426063895225525,
            -0.006799232214689255
        ],
        "location": [
            2177.478271484375,
            2523.54736328125,
            365.0068664550781
        ],
        "rotation": [
            0.38964205980300903,
            -1.0994281768798828,
            160.490234375
        ],
        "velocity": [
            -0.11300955712795258,
            0.03853585571050644,
            -0.0020659351721405983
        ],
        "speed": 0.11939921347143351,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.378665924072266,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.091280937194824,
                "transform": {
                    "location": {
                        "x": 2187.836181640625,
                        "y": 2570.107421875,
                        "z": 365.08648681640625
                    },
                    "rotation": {
                        "roll": -0.0005493236822076142,
                        "pitch": 0.4053443968296051,
                        "yaw": -89.67935180664062
                    }
                },
                "velocity": {
                    "x": 0.011804679408669472,
                    "y": -2.0912208557128906,
                    "z": 0.010589703917503357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005644184071570635,
                "transform": {
                    "location": {
                        "x": 2185.14306640625,
                        "y": 2455.126220703125,
                        "z": 364.7169189453125
                    },
                    "rotation": {
                        "roll": 0.02236739546060562,
                        "pitch": 0.14159664511680603,
                        "yaw": 90.23236846923828
                    }
                },
                "velocity": {
                    "x": -0.00014133666991256177,
                    "y": 0.0056403386406600475,
                    "z": -0.00015303760301321745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006190862623043358,
                "transform": {
                    "location": {
                        "x": 2150.01953125,
                        "y": 2527.3642578125,
                        "z": 364.74420166015625
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.23288211226463318,
                        "yaw": -0.0375976525247097
                    }
                },
                "velocity": {
                    "x": -4.2872205085586756e-05,
                    "y": -8.323181100422516e-05,
                    "z": -0.0006119658937677741
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2050130367279053,
                "transform": {
                    "location": {
                        "x": 2224.83251953125,
                        "y": 2524.28076171875,
                        "z": 366.1925964355469
                    },
                    "rotation": {
                        "roll": -0.0333251953125,
                        "pitch": -1.509977102279663,
                        "yaw": -178.60455322265625
                    }
                },
                "velocity": {
                    "x": -2.2039668560028076,
                    "y": -0.008840364404022694,
                    "z": -0.06733831018209457
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.978863000869751,
                "transform": {
                    "location": {
                        "x": 2187.893798828125,
                        "y": 2557.444091796875,
                        "z": 365.1340026855469
                    },
                    "rotation": {
                        "roll": 0.005598895717412233,
                        "pitch": 0.7144718766212463,
                        "yaw": -89.8050537109375
                    }
                },
                "velocity": {
                    "x": 0.0076371366158127785,
                    "y": -3.9788384437561035,
                    "z": 0.011686543934047222
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002363684820011258,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.681884765625,
                        "z": 364.8497314453125
                    },
                    "rotation": {
                        "roll": 0.000545476854313165,
                        "pitch": 0.3274460732936859,
                        "yaw": 89.72331237792969
                    }
                },
                "velocity": {
                    "x": -1.1035932402592152e-05,
                    "y": -0.0021579801104962826,
                    "z": -0.0009643684606999159
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6700659394264221,
                "transform": {
                    "location": {
                        "x": 2160.419921875,
                        "y": 2527.345458984375,
                        "z": 364.74932861328125
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.3050703704357147,
                        "yaw": -0.09033203125
                    }
                },
                "velocity": {
                    "x": 0.6700596213340759,
                    "y": -0.0014412516029551625,
                    "z": 0.0025277615059167147
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0800141096115112,
                "transform": {
                    "location": {
                        "x": 2210.080322265625,
                        "y": 2524.2900390625,
                        "z": 365.7613525390625
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": -1.7897895574569702,
                        "yaw": 179.91831970214844
                    }
                },
                "velocity": {
                    "x": -1.0796250104904175,
                    "y": 0.002145421225577593,
                    "z": -0.02890614978969097
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9428181648254395,
                "transform": {
                    "location": {
                        "x": 2187.913330078125,
                        "y": 2543.31591796875,
                        "z": 365.1988830566406
                    },
                    "rotation": {
                        "roll": 0.00016150285955518484,
                        "pitch": -0.004671849310398102,
                        "yaw": -89.9283447265625
                    }
                },
                "velocity": {
                    "x": 0.005133111961185932,
                    "y": -3.942814350128174,
                    "z": 0.0018758582882583141
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016511030262336135,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": 1.3842060070601292e-05,
                    "y": -3.013566129084211e-05,
                    "z": 0.0016507699619978666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007916701724752784,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.596384289674461e-05,
                    "y": 8.496430382365361e-06,
                    "z": 0.0007896439055912197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001913388114189729,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -4.5722572394879535e-05,
                    "y": -9.418129047844559e-05,
                    "z": 0.0001601557742105797
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001265938626602292,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": 0.0013049000408500433,
                        "pitch": 0.36993667483329773,
                        "yaw": 90.01982879638672
                    }
                },
                "velocity": {
                    "x": -1.642903771426063e-05,
                    "y": -6.003454018355114e-06,
                    "z": -0.00012537963630165905
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023809958656784147,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.6344971299986355e-05,
                    "y": -1.755895027599763e-05,
                    "z": 0.0002368880232097581
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012035344116156921,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.608774073247332e-05,
                    "y": -3.8096117350505665e-05,
                    "z": 0.00011302575148874894
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.09727942943573,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.239990234375,
                        "z": 365.0665283203125
                    },
                    "rotation": {
                        "roll": 0.0031230307649821043,
                        "pitch": 0.5433688163757324,
                        "yaw": 90.19632720947266
                    }
                },
                "velocity": {
                    "x": -0.002810582984238863,
                    "y": 1.0972617864608765,
                    "z": 0.005546817556023598
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.31802085041999817,
                "transform": {
                    "location": {
                        "x": 2185.0009765625,
                        "y": 2509.09130859375,
                        "z": 365.1180114746094
                    },
                    "rotation": {
                        "roll": -0.002716067247092724,
                        "pitch": 0.12650875747203827,
                        "yaw": 90.35477447509766
                    }
                },
                "velocity": {
                    "x": -0.0010881077032536268,
                    "y": 0.31801682710647583,
                    "z": 0.0011734198778867722
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10312344878911972,
        "expert_target_speed": 0.0,
        "target_point": [
            27.953232038263764,
            8.866252554573572
        ],
        "target_point_next": [
            27.953232038263764,
            8.866252554573572
        ]
    },
    "510": {
        "acceleration": [
            -0.16890719532966614,
            0.06212018430233002,
            -0.022374343127012253
        ],
        "angular_velocity": [
            0.049149297177791595,
            0.001810533693060279,
            0.00750390300527215
        ],
        "forward_vector": [
            -0.942401111125946,
            0.33392998576164246,
            -0.019260406494140625
        ],
        "right_vector": [
            -0.3338606059551239,
            -0.9425978660583496,
            -0.006806067656725645
        ],
        "location": [
            2177.44970703125,
            2523.557373046875,
            365.00634765625
        ],
        "rotation": [
            0.3900343179702759,
            -1.103608250617981,
            160.48875427246094
        ],
        "velocity": [
            -0.11654063314199448,
            0.039827991276979446,
            -0.002642078325152397
        ],
        "speed": 0.12315838608189088,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.348947525024414,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8255459070205688,
                "transform": {
                    "location": {
                        "x": 2187.83740234375,
                        "y": 2569.877685546875,
                        "z": 365.08740234375
                    },
                    "rotation": {
                        "roll": 0.0015807365998625755,
                        "pitch": 0.18354766070842743,
                        "yaw": -89.68346405029297
                    }
                },
                "velocity": {
                    "x": 0.0025547826662659645,
                    "y": -0.8255277276039124,
                    "z": 0.0048471735790371895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9808374047279358,
                "transform": {
                    "location": {
                        "x": 2185.140869140625,
                        "y": 2455.280029296875,
                        "z": 364.7169189453125
                    },
                    "rotation": {
                        "roll": 0.005628575570881367,
                        "pitch": 0.5782437920570374,
                        "yaw": 90.30557250976562
                    }
                },
                "velocity": {
                    "x": -0.01372451614588499,
                    "y": 0.980686604976654,
                    "z": 0.01036803238093853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005963461007922888,
                "transform": {
                    "location": {
                        "x": 2150.019775390625,
                        "y": 2527.3642578125,
                        "z": 364.744140625
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.2236340343952179,
                        "yaw": -0.0376281701028347
                    }
                },
                "velocity": {
                    "x": -5.320831860444741e-06,
                    "y": -6.940955063328147e-05,
                    "z": -0.0005922691198065877
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6469477415084839,
                "transform": {
                    "location": {
                        "x": 2224.498779296875,
                        "y": 2524.278564453125,
                        "z": 366.1856689453125
                    },
                    "rotation": {
                        "roll": -0.050201416015625,
                        "pitch": -1.9137028455734253,
                        "yaw": -178.7200927734375
                    }
                },
                "velocity": {
                    "x": -1.6461756229400635,
                    "y": -0.007090435363352299,
                    "z": -0.049924541264772415
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.281702995300293,
                "transform": {
                    "location": {
                        "x": 2187.89599609375,
                        "y": 2556.279052734375,
                        "z": 365.13726806640625
                    },
                    "rotation": {
                        "roll": 0.002418012823909521,
                        "pitch": 0.7477964162826538,
                        "yaw": -89.85376739501953
                    }
                },
                "velocity": {
                    "x": 0.009491427801549435,
                    "y": -5.281667232513428,
                    "z": 0.017015885561704636
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002032821998000145,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.682861328125,
                        "z": 364.8492431640625
                    },
                    "rotation": {
                        "roll": -0.0007324545294977725,
                        "pitch": 0.4586608409881592,
                        "yaw": 89.72332763671875
                    }
                },
                "velocity": {
                    "x": 0.00032286823261529207,
                    "y": -0.0011550188064575195,
                    "z": -0.0016413572011515498
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2147289514541626,
                "transform": {
                    "location": {
                        "x": 2160.653076171875,
                        "y": 2527.345458984375,
                        "z": 364.7508850097656
                    },
                    "rotation": {
                        "roll": 0.0001281912118429318,
                        "pitch": 0.3304513692855835,
                        "yaw": -0.1264037936925888
                    }
                },
                "velocity": {
                    "x": 1.2146823406219482,
                    "y": -0.00277211656793952,
                    "z": 0.01027504913508892
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002476833527907729,
                "transform": {
                    "location": {
                        "x": 2210.06201171875,
                        "y": 2524.2900390625,
                        "z": 365.76092529296875
                    },
                    "rotation": {
                        "roll": -0.0014953615609556437,
                        "pitch": -1.7355577945709229,
                        "yaw": 179.92108154296875
                    }
                },
                "velocity": {
                    "x": 0.0023157659452408552,
                    "y": 0.00013463587674777955,
                    "z": 0.0008682201150804758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.013073921203613,
                "transform": {
                    "location": {
                        "x": 2187.913818359375,
                        "y": 2542.31396484375,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": -0.0009460454457439482,
                        "pitch": 0.019705094397068024,
                        "yaw": -89.9349365234375
                    }
                },
                "velocity": {
                    "x": 0.004504263401031494,
                    "y": -4.013071060180664,
                    "z": 0.0013582801911979914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004415579605847597,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -4.554131010081619e-06,
                    "y": -2.5297849788330495e-05,
                    "z": 0.0004408091481309384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00029114665812812746,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.107136141508818e-05,
                    "y": 1.5696832633693703e-05,
                    "z": 0.0002842363028321415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.420525071211159e-05,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -3.2263993489323184e-05,
                    "y": -9.212693839799613e-06,
                    "z": -6.618595216423273e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": 0.0006792847416363657,
                        "pitch": 0.37320151925086975,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.246508514275774e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.210109055857174e-06,
                    "y": -1.029955456033349e-06,
                    "z": 8.19426859379746e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011012893810402602,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.580758731113747e-06,
                    "y": 3.4841655178752262e-06,
                    "z": 0.00010973884491249919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6892518997192383,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2499.6181640625,
                        "z": 365.0682373046875
                    },
                    "rotation": {
                        "roll": 0.001253727008588612,
                        "pitch": 0.5932701826095581,
                        "yaw": 90.2104263305664
                    }
                },
                "velocity": {
                    "x": -0.002770261140540242,
                    "y": 1.6892238855361938,
                    "z": 0.009333009831607342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6537312865257263,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2509.23095703125,
                        "z": 365.11846923828125
                    },
                    "rotation": {
                        "roll": 0.0006367703899741173,
                        "pitch": 0.14542154967784882,
                        "yaw": 90.38479614257812
                    }
                },
                "velocity": {
                    "x": -0.002243304392322898,
                    "y": 0.6537236571311951,
                    "z": 0.0022155570331960917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02965104766190052,
        "expert_target_speed": 0.0,
        "target_point": [
            27.922736382974087,
            8.866867004367853
        ],
        "target_point_next": [
            27.922736382974087,
            8.866867004367853
        ]
    },
    "515": {
        "acceleration": [
            0.2237376570701599,
            -0.08191891014575958,
            0.010456470772624016
        ],
        "angular_velocity": [
            -0.01227057259529829,
            -0.04545700550079346,
            -0.009205236099660397
        ],
        "forward_vector": [
            -0.9423947930335999,
            0.33394721150398254,
            -0.01926886849105358
        ],
        "right_vector": [
            -0.33387699723243713,
            -0.9425917863845825,
            -0.006847187876701355
        ],
        "location": [
            2177.42333984375,
            2523.566650390625,
            365.00579833984375
        ],
        "rotation": [
            0.3923909068107605,
            -1.1040931940078735,
            160.48770141601562
        ],
        "velocity": [
            -0.10156406462192535,
            0.034367118030786514,
            -0.002080526202917099
        ],
        "speed": 0.10722107080359085,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.321512699127197,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7771822214126587,
                "transform": {
                    "location": {
                        "x": 2187.83935546875,
                        "y": 2569.5380859375,
                        "z": 365.0894775390625
                    },
                    "rotation": {
                        "roll": 0.0007636909722350538,
                        "pitch": 0.3842049539089203,
                        "yaw": -89.70458984375
                    }
                },
                "velocity": {
                    "x": 0.010322097688913345,
                    "y": -1.7771360874176025,
                    "z": 0.007565937004983425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8156522512435913,
                "transform": {
                    "location": {
                        "x": 2185.136474609375,
                        "y": 2455.625244140625,
                        "z": 364.7195739746094
                    },
                    "rotation": {
                        "roll": -0.0013122576056048274,
                        "pitch": 0.8399219512939453,
                        "yaw": 90.40367889404297
                    }
                },
                "velocity": {
                    "x": -0.0259535014629364,
                    "y": 1.8153687715530396,
                    "z": 0.018867406994104385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.08633609116077423,
                "transform": {
                    "location": {
                        "x": 2150.0234375,
                        "y": 2527.3642578125,
                        "z": 364.74407958984375
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -0.2175620049238205,
                        "yaw": -0.0369873084127903
                    }
                },
                "velocity": {
                    "x": 0.08632338047027588,
                    "y": -3.433051097090356e-05,
                    "z": -0.0014809417771175504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4311623573303223,
                "transform": {
                    "location": {
                        "x": 2223.92919921875,
                        "y": 2524.27490234375,
                        "z": 366.16534423828125
                    },
                    "rotation": {
                        "roll": -0.023925775662064552,
                        "pitch": -1.5560263395309448,
                        "yaw": -178.9454345703125
                    }
                },
                "velocity": {
                    "x": -2.4300308227539062,
                    "y": -0.008902891539037228,
                    "z": -0.07362998276948929
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.35526180267334,
                "transform": {
                    "location": {
                        "x": 2187.89794921875,
                        "y": 2554.94482421875,
                        "z": 365.1421813964844
                    },
                    "rotation": {
                        "roll": 0.002247098134830594,
                        "pitch": 0.4167439639568329,
                        "yaw": -89.88939666748047
                    }
                },
                "velocity": {
                    "x": 0.008017124608159065,
                    "y": -5.3552374839782715,
                    "z": 0.0141155906021595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000299822015222162,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68310546875,
                        "z": 364.84906005859375
                    },
                    "rotation": {
                        "roll": -0.0026550183538347483,
                        "pitch": 0.5034942030906677,
                        "yaw": 89.72335815429688
                    }
                },
                "velocity": {
                    "x": 0.00013084705278743058,
                    "y": -0.0002696308365557343,
                    "z": -8.455884199065622e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7074518203735352,
                "transform": {
                    "location": {
                        "x": 2161.024658203125,
                        "y": 2527.34423828125,
                        "z": 364.7537841796875
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": 0.37425336241722107,
                        "yaw": -0.0782775953412056
                    }
                },
                "velocity": {
                    "x": 1.707385778427124,
                    "y": -0.002435008529573679,
                    "z": 0.014828290790319443
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017356708412989974,
                "transform": {
                    "location": {
                        "x": 2210.060791015625,
                        "y": 2524.2900390625,
                        "z": 365.76116943359375
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -1.5817556381225586,
                        "yaw": 179.92098999023438
                    }
                },
                "velocity": {
                    "x": 0.0004901066422462463,
                    "y": 6.167624815134332e-05,
                    "z": 0.0016638945089653134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6936161518096924,
                "transform": {
                    "location": {
                        "x": 2187.91552734375,
                        "y": 2541.37353515625,
                        "z": 365.19940185546875
                    },
                    "rotation": {
                        "roll": 0.0006110710091888905,
                        "pitch": -0.021842943504452705,
                        "yaw": -89.94039916992188
                    }
                },
                "velocity": {
                    "x": 0.0028130928985774517,
                    "y": -3.6936147212982178,
                    "z": -0.0016952418955042958
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002460339164827019,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -2.6659421564545482e-05,
                    "y": -6.852149908809224e-06,
                    "z": 0.00024448928888887167
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001236123382113874,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.91683599143289e-05,
                    "y": -1.5037425100672408e-06,
                    "z": 0.0012341857654973865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.7584100684616715e-05,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -4.608720337273553e-05,
                    "y": 5.691662408935372e-06,
                    "z": -1.0383706467109732e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.792167111299932e-05,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": 0.0006792847416363657,
                        "pitch": 0.37320151925086975,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": -1.7998707335209474e-05,
                    "y": 2.8532816941151395e-05,
                    "z": 9.192703146254644e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004020325723104179,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.415520910086343e-05,
                    "y": -8.914218597055878e-06,
                    "z": 0.000401684403186664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008255442953668535,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.245723049389198e-06,
                    "y": -1.1743640243366826e-05,
                    "z": 0.0008254089625552297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00251726689748466,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.678466796875,
                        "z": 365.07080078125
                    },
                    "rotation": {
                        "roll": -0.000823975307866931,
                        "pitch": -0.012389962561428547,
                        "yaw": 90.17929077148438
                    }
                },
                "velocity": {
                    "x": -0.00022812042152509093,
                    "y": -0.0020697382278740406,
                    "z": 0.0014144884189590812
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0800946950912476,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2509.398681640625,
                        "z": 365.11907958984375
                    },
                    "rotation": {
                        "roll": 0.0018821085104718804,
                        "pitch": 0.2497526854276657,
                        "yaw": 90.35774230957031
                    }
                },
                "velocity": {
                    "x": -0.0029255098197609186,
                    "y": 1.080088496208191,
                    "z": 0.002218608744442463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.052739158272743225,
        "expert_target_speed": 0.0,
        "target_point": [
            27.89461985094122,
            8.867323936397064
        ],
        "target_point_next": [
            27.89461985094122,
            8.867323936397064
        ]
    },
    "520": {
        "acceleration": [
            -0.18407568335533142,
            0.064835324883461,
            -0.018826676532626152
        ],
        "angular_velocity": [
            0.04377896338701248,
            0.030683545395731926,
            0.023169534280896187
        ],
        "forward_vector": [
            -0.9423948526382446,
            0.33395054936408997,
            -0.019211897626519203
        ],
        "right_vector": [
            -0.3338799774646759,
            -0.9425906538963318,
            -0.006865026894956827
        ],
        "location": [
            2177.395751953125,
            2523.575927734375,
            365.0052185058594
        ],
        "rotation": [
            0.3934127688407898,
            -1.1008284091949463,
            160.48751831054688
        ],
        "velocity": [
            -0.1164269670844078,
            0.039736419916152954,
            -0.002495784778147936
        ],
        "speed": 0.12302122472251126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.292874336242676,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.65427827835083,
                "transform": {
                    "location": {
                        "x": 2187.8427734375,
                        "y": 2568.968505859375,
                        "z": 365.09234619140625
                    },
                    "rotation": {
                        "roll": 0.00047536438796669245,
                        "pitch": 0.41753625869750977,
                        "yaw": -89.68209075927734
                    }
                },
                "velocity": {
                    "x": 0.01603160798549652,
                    "y": -2.6541945934295654,
                    "z": 0.013686475344002247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3116304874420166,
                "transform": {
                    "location": {
                        "x": 2185.12890625,
                        "y": 2456.180908203125,
                        "z": 364.7251892089844
                    },
                    "rotation": {
                        "roll": -0.0018920352449640632,
                        "pitch": 0.8992080092430115,
                        "yaw": 90.54169464111328
                    }
                },
                "velocity": {
                    "x": -0.03437500819563866,
                    "y": 2.311246395111084,
                    "z": 0.02436448074877262
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.45701608061790466,
                "transform": {
                    "location": {
                        "x": 2150.07958984375,
                        "y": 2527.3642578125,
                        "z": 364.74365234375
                    },
                    "rotation": {
                        "roll": -3.0517576306010596e-05,
                        "pitch": -0.20666785538196564,
                        "yaw": -0.0494079515337944
                    }
                },
                "velocity": {
                    "x": 0.45701032876968384,
                    "y": -0.0007448757532984018,
                    "z": -0.0021716689225286245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7895386219024658,
                "transform": {
                    "location": {
                        "x": 2223.764892578125,
                        "y": 2524.27392578125,
                        "z": 366.1648254394531
                    },
                    "rotation": {
                        "roll": -0.050628647208213806,
                        "pitch": -2.1078782081604004,
                        "yaw": -178.96282958984375
                    }
                },
                "velocity": {
                    "x": -0.7891767024993896,
                    "y": -0.0006761606782674789,
                    "z": -0.023893335834145546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.143342018127441,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2553.41455078125,
                        "z": 365.1457214355469
                    },
                    "rotation": {
                        "roll": 0.0014045521384105086,
                        "pitch": 0.43879181146621704,
                        "yaw": -89.91079711914062
                    }
                },
                "velocity": {
                    "x": 0.009107019752264023,
                    "y": -6.143319606781006,
                    "z": 0.013899783603847027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006154566071927547,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.683349609375,
                        "z": 364.8489685058594
                    },
                    "rotation": {
                        "roll": -0.0029602355789393187,
                        "pitch": 0.5214439630508423,
                        "yaw": 89.7234115600586
                    }
                },
                "velocity": {
                    "x": -3.563113568816334e-05,
                    "y": -0.0001478255435358733,
                    "z": -0.0005963764269836247
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0050580152310431,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.343505859375,
                        "z": 364.75714111328125
                    },
                    "rotation": {
                        "roll": 0.0006313402554951608,
                        "pitch": 0.36430177092552185,
                        "yaw": -0.1019592210650444
                    }
                },
                "velocity": {
                    "x": 0.005050277803093195,
                    "y": 2.6156827516388148e-05,
                    "z": 0.00027844368014484644
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00011675959831336513,
                "transform": {
                    "location": {
                        "x": 2210.060546875,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.0022277836687862873,
                        "pitch": -1.5498039722442627,
                        "yaw": 179.92088317871094
                    }
                },
                "velocity": {
                    "x": 8.498162060277537e-05,
                    "y": 4.115544288652018e-05,
                    "z": 6.868155469419435e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3081440925598145,
                "transform": {
                    "location": {
                        "x": 2187.931396484375,
                        "y": 2540.46044921875,
                        "z": 365.1993713378906
                    },
                    "rotation": {
                        "roll": -0.0392761155962944,
                        "pitch": -0.04680728539824486,
                        "yaw": -89.36233520507812
                    }
                },
                "velocity": {
                    "x": 0.15570731461048126,
                    "y": -3.3044772148132324,
                    "z": -0.0020133494399487972
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005990368663333356,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": 3.3860629628179595e-05,
                    "y": -7.101297342160251e-06,
                    "z": 0.0005980369169265032
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004992502508684993,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.8598368923412636e-05,
                    "y": 1.1035506759071723e-05,
                    "z": 0.000495676591526717
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.538742698263377e-05,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -3.920122981071472e-05,
                    "y": 1.0120085789822042e-05,
                    "z": -3.7797013646923006e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00012311919999774545,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": -0.00015260193322319537,
                        "pitch": 0.37316736578941345,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": -4.906959293293767e-05,
                    "y": -1.573383815411944e-05,
                    "z": -0.00011181662557646632
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00028822655440308154,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 6.860717803647276e-06,
                    "y": 5.540670713344298e-07,
                    "z": 0.0002881443651858717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00037171575240790844,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.803605851426255e-06,
                    "y": 1.2804118796339026e-06,
                    "z": 0.0003716092905960977
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0021366558503359556,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.67919921875,
                        "z": 365.0701599121094
                    },
                    "rotation": {
                        "roll": 0.00021138331794645637,
                        "pitch": 0.17501676082611084,
                        "yaw": 90.17929077148438
                    }
                },
                "velocity": {
                    "x": 5.8177993196295574e-05,
                    "y": -0.0017715427093207836,
                    "z": 0.001193126430734992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.251502275466919,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2509.56640625,
                        "z": 365.1195983886719
                    },
                    "rotation": {
                        "roll": 0.0019492313731461763,
                        "pitch": 0.2973317801952362,
                        "yaw": 90.43429565429688
                    }
                },
                "velocity": {
                    "x": -0.003469279734417796,
                    "y": 1.2514934539794922,
                    "z": 0.0031760786660015583
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.012946592643857002,
        "expert_target_speed": 0.0,
        "target_point": [
            27.86549225140005,
            8.866933598536257
        ],
        "target_point_next": [
            27.86549225140005,
            8.866933598536257
        ]
    },
    "525": {
        "acceleration": [
            0.21153181791305542,
            -0.07904335856437683,
            -0.007575035560876131
        ],
        "angular_velocity": [
            0.009489945136010647,
            -0.04794759675860405,
            -0.0030398101080209017
        ],
        "forward_vector": [
            -0.9423640966415405,
            0.3340359926223755,
            -0.019230609759688377
        ],
        "right_vector": [
            -0.3339652419090271,
            -0.9425603151321411,
            -0.00687406025826931
        ],
        "location": [
            2177.36767578125,
            2523.58544921875,
            365.0046691894531
        ],
        "rotation": [
            0.3939306139945984,
            -1.1019006967544556,
            160.48231506347656
        ],
        "velocity": [
            -0.10479385405778885,
            0.03554638847708702,
            -0.0022821808233857155
        ],
        "speed": 0.11065847270791845,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.263722896575928,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.085489749908447,
                "transform": {
                    "location": {
                        "x": 2187.84814453125,
                        "y": 2568.12939453125,
                        "z": 365.0967102050781
                    },
                    "rotation": {
                        "roll": -3.052354441024363e-05,
                        "pitch": 0.4942665994167328,
                        "yaw": -89.66531372070312
                    }
                },
                "velocity": {
                    "x": 0.02496717870235443,
                    "y": -4.085365295410156,
                    "z": 0.019834641367197037
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.39083680510520935,
                "transform": {
                    "location": {
                        "x": 2185.1259765625,
                        "y": 2456.42236328125,
                        "z": 364.7306823730469
                    },
                    "rotation": {
                        "roll": 0.012089709751307964,
                        "pitch": 0.11695332080125809,
                        "yaw": 90.59732818603516
                    }
                },
                "velocity": {
                    "x": -0.004217491485178471,
                    "y": 0.3907892107963562,
                    "z": 0.004405155312269926
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9941450357437134,
                "transform": {
                    "location": {
                        "x": 2150.265869140625,
                        "y": 2527.3642578125,
                        "z": 364.742919921875
                    },
                    "rotation": {
                        "roll": 0.00016555475303903222,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.053771961480379105
                    }
                },
                "velocity": {
                    "x": 0.9941402077674866,
                    "y": -0.0011266031069681048,
                    "z": -0.002884130459278822
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8926606178283691,
                "transform": {
                    "location": {
                        "x": 2223.41162109375,
                        "y": 2524.272216796875,
                        "z": 366.1496276855469
                    },
                    "rotation": {
                        "roll": -0.0195312462747097,
                        "pitch": -1.563594102859497,
                        "yaw": -179.1052703857422
                    }
                },
                "velocity": {
                    "x": -1.8917585611343384,
                    "y": -0.0033449968323111534,
                    "z": -0.05833235755562782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9215768575668335,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2552.441650390625,
                        "z": 365.1531982421875
                    },
                    "rotation": {
                        "roll": 0.00013273126387502998,
                        "pitch": -1.0627706050872803,
                        "yaw": -89.91228485107422
                    }
                },
                "velocity": {
                    "x": 0.0015336914220824838,
                    "y": -0.9215752482414246,
                    "z": 0.0007979678921401501
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0001461313950130716,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68359375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.0020752111449837685,
                        "pitch": 0.5269148945808411,
                        "yaw": 89.72341918945312
                    }
                },
                "velocity": {
                    "x": -2.788932943076361e-05,
                    "y": -7.00695818522945e-05,
                    "z": -0.00012516719289124012
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0017252553952857852,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.343505859375,
                        "z": 364.75701904296875
                    },
                    "rotation": {
                        "roll": 0.0006121595506556332,
                        "pitch": 0.3740347921848297,
                        "yaw": -0.1019287183880806
                    }
                },
                "velocity": {
                    "x": -0.00010856732842512429,
                    "y": -6.618361658183858e-05,
                    "z": 0.001720563624985516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005230677197687328,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -1.5445243120193481,
                        "yaw": 179.92086791992188
                    }
                },
                "velocity": {
                    "x": 1.0187924090132583e-05,
                    "y": 5.832277747686021e-05,
                    "z": -0.0005197061691433191
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2814085483551025,
                "transform": {
                    "location": {
                        "x": 2187.956298828125,
                        "y": 2539.825439453125,
                        "z": 365.2004089355469
                    },
                    "rotation": {
                        "roll": 0.0016286742174997926,
                        "pitch": -0.17562463879585266,
                        "yaw": -88.69284057617188
                    }
                },
                "velocity": {
                    "x": 0.06425804644823074,
                    "y": -1.279795527458191,
                    "z": -0.0014664935879409313
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.8587986131897196e-05,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": 2.8481914341682568e-05,
                    "y": -1.0949298484774772e-05,
                    "z": -5.001445606467314e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011764850933104753,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -7.945090328576043e-05,
                    "y": 1.935518957907334e-05,
                    "z": 0.0011736396700143814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005412118625827134,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -1.306995727645699e-05,
                    "y": -9.476554987486452e-05,
                    "z": -0.0005326903192326427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006419990677386522,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": -6.103276973590255e-05,
                        "pitch": 0.373324453830719,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": -5.276101364870556e-05,
                    "y": -3.914721219189232e-06,
                    "z": -0.0006398154073394835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006347583257593215,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.505652628315147e-05,
                    "y": -1.1332653002682491e-06,
                    "z": 0.0006342625711113214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005554966628551483,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.679931640625,
                        "z": 365.06988525390625
                    },
                    "rotation": {
                        "roll": 0.00011551398347364739,
                        "pitch": 0.2482568770647049,
                        "yaw": 90.17927551269531
                    }
                },
                "velocity": {
                    "x": 3.051325802516658e-05,
                    "y": -0.0005248127854429185,
                    "z": 0.00017949097673408687
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.37439191341400146,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2509.7294921875,
                        "z": 365.1200256347656
                    },
                    "rotation": {
                        "roll": 0.001345355180092156,
                        "pitch": 0.20026113092899323,
                        "yaw": 90.44805908203125
                    }
                },
                "velocity": {
                    "x": -0.0006277819629758596,
                    "y": 0.37439003586769104,
                    "z": 0.0010161971440538764
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.020237725228071213,
        "expert_target_speed": 0.0,
        "target_point": [
            27.8350405943602,
            8.869065619307477
        ],
        "target_point_next": [
            27.8350405943602,
            8.869065619307477
        ]
    },
    "530": {
        "acceleration": [
            -0.17716720700263977,
            0.06256312131881714,
            -0.00992870144546032
        ],
        "angular_velocity": [
            0.023952053859829903,
            0.007659316528588533,
            0.006157586816698313
        ],
        "forward_vector": [
            -0.9423547387123108,
            0.3340645134449005,
            -0.019194258376955986
        ],
        "right_vector": [
            -0.3339935541152954,
            -0.9425501823425293,
            -0.006887020077556372
        ],
        "location": [
            2177.339111328125,
            2523.59521484375,
            365.0040588378906
        ],
        "rotation": [
            0.39467301964759827,
            -1.0998175144195557,
            160.4805908203125
        ],
        "velocity": [
            -0.11903119087219238,
            0.04064352437853813,
            -0.002029323484748602
        ],
        "speed": 0.12577885543429435,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.2340569496154785,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.378771781921387,
                "transform": {
                    "location": {
                        "x": 2187.85546875,
                        "y": 2566.927490234375,
                        "z": 365.1028747558594
                    },
                    "rotation": {
                        "roll": 0.0015145704383030534,
                        "pitch": 0.49308499693870544,
                        "yaw": -89.6485366821289
                    }
                },
                "velocity": {
                    "x": 0.03309398889541626,
                    "y": -5.378605842590332,
                    "z": 0.026270903646945953
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3017942905426025,
                "transform": {
                    "location": {
                        "x": 2185.1240234375,
                        "y": 2456.64599609375,
                        "z": 364.7310791015625
                    },
                    "rotation": {
                        "roll": 0.010584786534309387,
                        "pitch": 0.6534509658813477,
                        "yaw": 90.6003189086914
                    }
                },
                "velocity": {
                    "x": -0.011888704262673855,
                    "y": 1.301666021347046,
                    "z": 0.01387911755591631
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5574158430099487,
                "transform": {
                    "location": {
                        "x": 2150.589599609375,
                        "y": 2527.3642578125,
                        "z": 364.7419738769531
                    },
                    "rotation": {
                        "roll": 0.0005667857476510108,
                        "pitch": -0.18719498813152313,
                        "yaw": -0.0490112230181694
                    }
                },
                "velocity": {
                    "x": 1.557414174079895,
                    "y": -0.001388751668855548,
                    "z": -0.0017805480165407062
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1084996461868286,
                "transform": {
                    "location": {
                        "x": 2222.870849609375,
                        "y": 2524.27001953125,
                        "z": 366.1336975097656
                    },
                    "rotation": {
                        "roll": -0.0257873497903347,
                        "pitch": -1.6426057815551758,
                        "yaw": -179.2602996826172
                    }
                },
                "velocity": {
                    "x": -1.1079767942428589,
                    "y": -8.415857155341655e-05,
                    "z": -0.0340416319668293
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9473910927772522,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2552.339599609375,
                        "z": 365.1517028808594
                    },
                    "rotation": {
                        "roll": 0.00357787380926311,
                        "pitch": -0.629033088684082,
                        "yaw": -89.90684509277344
                    }
                },
                "velocity": {
                    "x": 0.002461691154167056,
                    "y": -0.9473851323127747,
                    "z": 0.002294292440637946
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003396398387849331,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68359375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.0019836407154798508,
                        "pitch": 0.5293054580688477,
                        "yaw": 89.72341918945312
                    }
                },
                "velocity": {
                    "x": 4.449449261301197e-05,
                    "y": -1.2781471241396503e-06,
                    "z": -0.0003367103054188192
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00039372991886921227,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -1.5445243120193481,
                        "yaw": 179.92086791992188
                    }
                },
                "velocity": {
                    "x": -4.2062700231326744e-05,
                    "y": -3.155321974190883e-05,
                    "z": -0.00039020300027914345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001880641677416861,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.796142578125,
                        "z": 365.20037841796875
                    },
                    "rotation": {
                        "roll": 0.007241274230182171,
                        "pitch": -0.17333653569221497,
                        "yaw": -88.67068481445312
                    }
                },
                "velocity": {
                    "x": -0.0004210742190480232,
                    "y": 0.0010106750996783376,
                    "z": -0.0015290668234229088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001258546719327569,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -3.7849138607271016e-05,
                    "y": -3.2724961783969775e-05,
                    "z": 0.0012575517175719142
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000727246340829879,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.338817572919652e-05,
                    "y": -5.624346613330999e-06,
                    "z": 0.0007252622744999826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002614700351841748,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -1.0050385753856972e-05,
                    "y": -0.00012256162881385535,
                    "z": -0.00023074708587955683
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00023347354726865888,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": -6.103276973590255e-05,
                        "pitch": 0.373324453830719,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": -1.3226929695520084e-05,
                    "y": -2.358443998673465e-05,
                    "z": -0.00023190239153336734
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00030040493584237993,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.1326297681080177e-05,
                    "y": 3.7280426568031544e-07,
                    "z": 0.0003001911100000143
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8376907468773425e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.7443149772589095e-05,
                    "y": -5.8978134802600835e-06,
                    "z": 3.3671043638605624e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00046340239350683987,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.68017578125,
                        "z": 365.06976318359375
                    },
                    "rotation": {
                        "roll": -6.1018861742923036e-05,
                        "pitch": 0.2806251347064972,
                        "yaw": 90.17928314208984
                    }
                },
                "velocity": {
                    "x": -7.795775331942423e-07,
                    "y": -0.00031290235347114503,
                    "z": 0.0003418088308535516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.18260830640792847,
                "transform": {
                    "location": {
                        "x": 2185.00048828125,
                        "y": 2509.842529296875,
                        "z": 365.1203918457031
                    },
                    "rotation": {
                        "roll": 0.0004565126437228173,
                        "pitch": 0.09270615130662918,
                        "yaw": 90.42229461669922
                    }
                },
                "velocity": {
                    "x": -0.0002451773325446993,
                    "y": 0.1826014518737793,
                    "z": 0.0015629195841029286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.01650186814367771,
        "expert_target_speed": 0.0,
        "target_point": [
            27.804588390483666,
            8.869562054911533
        ],
        "target_point_next": [
            27.804588390483666,
            8.869562054911533
        ]
    },
    "535": {
        "acceleration": [
            0.3137938678264618,
            -0.1118025928735733,
            0.012113379314541817
        ],
        "angular_velocity": [
            -0.018587684258818626,
            -0.05987728387117386,
            -0.010936860926449299
        ],
        "forward_vector": [
            -0.942353367805481,
            0.33406758308410645,
            -0.01920975185930729
        ],
        "right_vector": [
            -0.33399641513824463,
            -0.9425491690635681,
            -0.0068959565833210945
        ],
        "location": [
            2177.310546875,
            2523.604736328125,
            365.0035400390625
        ],
        "rotation": [
            0.395185261964798,
            -1.1007053852081299,
            160.48040771484375
        ],
        "velocity": [
            -0.10718638449907303,
            0.03648867830634117,
            -0.0018754577031359076
        ],
        "speed": 0.113226960864128,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.204432487487793,
        "front_vehicle_info": {
            "id": 5065,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2171.16845703125,
                2524.47509765625,
                364.8931579589844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.461648464202881,
                "transform": {
                    "location": {
                        "x": 2187.863037109375,
                        "y": 2565.572021484375,
                        "z": 365.10888671875
                    },
                    "rotation": {
                        "roll": 0.004223752301186323,
                        "pitch": 0.3240719735622406,
                        "yaw": -89.65219116210938
                    }
                },
                "velocity": {
                    "x": 0.028282465413212776,
                    "y": -5.461520671844482,
                    "z": 0.0244143009185791
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1120762825012207,
                "transform": {
                    "location": {
                        "x": 2185.119873046875,
                        "y": 2457.080810546875,
                        "z": 364.73480224609375
                    },
                    "rotation": {
                        "roll": 0.009128851816058159,
                        "pitch": 0.8806367516517639,
                        "yaw": 90.58057403564453
                    }
                },
                "velocity": {
                    "x": -0.018357520923018456,
                    "y": 2.1118788719177246,
                    "z": 0.022285794839262962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7159463763237,
                "transform": {
                    "location": {
                        "x": 2150.99658203125,
                        "y": 2527.364013671875,
                        "z": 364.74127197265625
                    },
                    "rotation": {
                        "roll": 0.00019550272554624826,
                        "pitch": -0.18746136128902435,
                        "yaw": -0.080718994140625
                    }
                },
                "velocity": {
                    "x": 0.7159454822540283,
                    "y": 1.7496115106041543e-05,
                    "z": -0.0011139296693727374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0621719360351562,
                "transform": {
                    "location": {
                        "x": 2222.757568359375,
                        "y": 2524.26953125,
                        "z": 366.13330078125
                    },
                    "rotation": {
                        "roll": -0.0325012244284153,
                        "pitch": -2.0211143493652344,
                        "yaw": -179.30992126464844
                    }
                },
                "velocity": {
                    "x": -1.0616902112960815,
                    "y": -0.00070768449222669,
                    "z": -0.03198043256998062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7360889911651611,
                "transform": {
                    "location": {
                        "x": 2187.9013671875,
                        "y": 2551.987060546875,
                        "z": 365.1496276855469
                    },
                    "rotation": {
                        "roll": 0.0015076942509040236,
                        "pitch": 0.12241747230291367,
                        "yaw": -89.92587280273438
                    }
                },
                "velocity": {
                    "x": 0.002495103282853961,
                    "y": -1.7360857725143433,
                    "z": 0.00224584573879838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.138827979564667e-05,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68359375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.0019836407154798508,
                        "pitch": 0.5293054580688477,
                        "yaw": 89.72341918945312
                    }
                },
                "velocity": {
                    "x": -2.7389578463044018e-05,
                    "y": -6.808526813983917e-05,
                    "z": 3.518890662235208e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5785283620934933e-05,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -1.5445243120193481,
                        "yaw": 179.92086791992188
                    }
                },
                "velocity": {
                    "x": -5.416512431111187e-05,
                    "y": 4.3116674532939214e-06,
                    "z": -1.2631174286070745e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001889311388367787,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.795166015625,
                        "z": 365.1993713378906
                    },
                    "rotation": {
                        "roll": 0.0025000206660479307,
                        "pitch": -0.06139656528830528,
                        "yaw": -88.67059326171875
                    }
                },
                "velocity": {
                    "x": -3.324590215925127e-05,
                    "y": 0.0001610496110515669,
                    "z": 9.301995305577293e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008518749964423478,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": 2.4643222786835395e-05,
                    "y": -2.5279596229665913e-05,
                    "z": 0.0008511431515216827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015925454499665648,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -4.89652156829834e-05,
                    "y": 7.524809575443214e-07,
                    "z": 0.00015153829008340836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006283429102040827,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -0.00010275215026922524,
                    "y": 8.952446660259739e-05,
                    "z": 0.0006133858114480972
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002894577046390623,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": -6.103276973590255e-05,
                        "pitch": 0.373324453830719,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": 5.552161383093335e-05,
                    "y": -7.782577995385509e-06,
                    "z": -0.00028397628921084106
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.763917528791353e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.015835530590266e-06,
                    "y": -1.079483627108857e-05,
                    "z": 7.635461952304468e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.059229392325506e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0150708476430736e-05,
                    "y": -6.749277190465364e-07,
                    "z": 6.985542131587863e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014438110520131886,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.680419921875,
                        "z": 365.0697326660156
                    },
                    "rotation": {
                        "roll": -0.0005493169883266091,
                        "pitch": 0.29120510816574097,
                        "yaw": 90.17929077148438
                    }
                },
                "velocity": {
                    "x": 7.026065577520058e-05,
                    "y": -0.00011038079537684098,
                    "z": 6.103624036768451e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6695337295532227,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2509.962158203125,
                        "z": 365.1207580566406
                    },
                    "rotation": {
                        "roll": 0.00022812539828009903,
                        "pitch": 0.17726388573646545,
                        "yaw": 90.43909454345703
                    }
                },
                "velocity": {
                    "x": -0.003611530875787139,
                    "y": 0.669516384601593,
                    "z": 0.003186530899256468
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0014149968046694994,
                        "pitch": -0.9999942779541016,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.023898957297205925,
        "expert_target_speed": 0.0,
        "target_point": [
            27.774454602576878,
            8.869084907085313
        ],
        "target_point_next": [
            27.774454602576878,
            8.869084907085313
        ]
    },
    "540": {
        "acceleration": [
            -0.20188137888908386,
            0.07140286266803741,
            -0.020089339464902878
        ],
        "angular_velocity": [
            0.03129547834396362,
            0.04769717901945114,
            -0.03258322924375534
        ],
        "forward_vector": [
            -0.942338764667511,
            0.33410921692848206,
            -0.019201287999749184
        ],
        "right_vector": [
            -0.3340378403663635,
            -0.9425343871116638,
            -0.006906438153237104
        ],
        "location": [
            2177.2822265625,
            2523.6142578125,
            365.0029602050781
        ],
        "rotation": [
            0.3957858681678772,
            -1.1002204418182373,
            160.47787475585938
        ],
        "velocity": [
            -0.11981122940778732,
            0.040982525795698166,
            -0.002790899248793721
        ],
        "speed": 0.12662660902354017,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.148380279541016,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                1.4375149476109073e-05,
                -4.69035103378701e-06,
                0.00040160631760954857
            ],
            "speed_kmh": 0.0014468071645602953,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.8865051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.490095138549805,
                "transform": {
                    "location": {
                        "x": 2187.870849609375,
                        "y": 2563.98583984375,
                        "z": 365.115966796875
                    },
                    "rotation": {
                        "roll": 0.004476126749068499,
                        "pitch": 0.35389256477355957,
                        "yaw": -89.72540283203125
                    }
                },
                "velocity": {
                    "x": 0.027329660952091217,
                    "y": -6.489983558654785,
                    "z": 0.026511535048484802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7937610745429993,
                "transform": {
                    "location": {
                        "x": 2185.114990234375,
                        "y": 2457.585205078125,
                        "z": 364.7413635253906
                    },
                    "rotation": {
                        "roll": 0.004281844012439251,
                        "pitch": 0.5477265119552612,
                        "yaw": 90.48512268066406
                    }
                },
                "velocity": {
                    "x": -0.012290452606976032,
                    "y": 0.7936171293258667,
                    "z": 0.008798799477517605
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.519090235698968e-05,
                "transform": {
                    "location": {
                        "x": 2151.002685546875,
                        "y": 2527.364013671875,
                        "z": 364.74151611328125
                    },
                    "rotation": {
                        "roll": 0.00024854190996848047,
                        "pitch": -0.21252132952213287,
                        "yaw": -0.0925903171300888
                    }
                },
                "velocity": {
                    "x": -7.016956806182861e-05,
                    "y": 4.233038271195255e-05,
                    "z": 4.843220085604116e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.066286563873291,
                "transform": {
                    "location": {
                        "x": 2222.362548828125,
                        "y": 2524.2685546875,
                        "z": 366.1172180175781
                    },
                    "rotation": {
                        "roll": -0.012603759765625,
                        "pitch": -1.5165410041809082,
                        "yaw": -179.44766235351562
                    }
                },
                "velocity": {
                    "x": -2.0653200149536133,
                    "y": -0.0009149395627900958,
                    "z": -0.06318149715662003
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2833104133605957,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2551.4423828125,
                        "z": 365.1498718261719
                    },
                    "rotation": {
                        "roll": 0.0001558160874992609,
                        "pitch": 0.318744421005249,
                        "yaw": -89.91374969482422
                    }
                },
                "velocity": {
                    "x": 0.003214870113879442,
                    "y": -2.2833058834075928,
                    "z": 0.0031471538823097944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.529156962642446e-05,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68359375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.0019836407154798508,
                        "pitch": 0.5293054580688477,
                        "yaw": 89.72341918945312
                    }
                },
                "velocity": {
                    "x": -1.4017815601619077e-06,
                    "y": -1.9142329620081e-05,
                    "z": 6.24066888121888e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003310705069452524,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": -1.5369495153427124,
                        "yaw": 179.9205780029297
                    }
                },
                "velocity": {
                    "x": -3.765374276554212e-05,
                    "y": 3.6602516047423705e-05,
                    "z": -0.0003268793807365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006438011769205332,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.795166015625,
                        "z": 365.1991271972656
                    },
                    "rotation": {
                        "roll": 0.0006706209387630224,
                        "pitch": -0.03380943462252617,
                        "yaw": -88.67064666748047
                    }
                },
                "velocity": {
                    "x": -5.722854257328436e-05,
                    "y": 7.052112050587311e-05,
                    "z": 0.0006373630603775382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012754353519994766,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": 2.962149210361531e-07,
                    "y": -1.6254110960289836e-05,
                    "z": 0.00012650323333218694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000833419559057802,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.850063800811768e-05,
                    "y": 3.394118539290503e-05,
                    "z": 0.0008299059118144214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00030756177147850394,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": -6.103276973590255e-05,
                        "pitch": 0.373324453830719,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": -2.5740877390489914e-05,
                    "y": -2.3670792870689183e-05,
                    "z": -0.0003055672568734735
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00040189086575992405,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.4375149476109073e-05,
                    "y": -4.69035103378701e-06,
                    "z": 0.00040160631760954857
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000976678216829896,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.0970868061122019e-05,
                    "y": -1.0173154805670492e-05,
                    "z": 0.0009765636641532183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02921188436448574,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.6845703125,
                        "z": 365.0696716308594
                    },
                    "rotation": {
                        "roll": -0.0005188083741813898,
                        "pitch": 0.30750876665115356,
                        "yaw": 90.17838287353516
                    }
                },
                "velocity": {
                    "x": -0.001828519394621253,
                    "y": 0.02912810444831848,
                    "z": 0.0012426471803337336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8393535614013672,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2510.08984375,
                        "z": 365.12127685546875
                    },
                    "rotation": {
                        "roll": 0.0038483627140522003,
                        "pitch": 0.23258158564567566,
                        "yaw": 90.45133972167969
                    }
                },
                "velocity": {
                    "x": -0.002272768411785364,
                    "y": 0.8393454551696777,
                    "z": 0.002913837321102619
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.015611186623573303,
        "expert_target_speed": 1.3061847063443324,
        "target_point": [
            27.744187216609106,
            8.869826874411526
        ],
        "target_point_next": [
            27.744187216609106,
            8.869826874411526
        ]
    },
    "545": {
        "acceleration": [
            0.2534133195877075,
            -0.09223870933055878,
            -0.008666804060339928
        ],
        "angular_velocity": [
            0.02594572864472866,
            -0.05311959609389305,
            -0.029495032504200935
        ],
        "forward_vector": [
            -0.9423266053199768,
            0.33414360880851746,
            -0.019201287999749184
        ],
        "right_vector": [
            -0.33407214283943176,
            -0.9425221681594849,
            -0.006910571828484535
        ],
        "location": [
            2177.25390625,
            2523.624267578125,
            365.00238037109375
        ],
        "rotation": [
            0.3960227370262146,
            -1.1002204418182373,
            160.4757843017578
        ],
        "velocity": [
            -0.10805193334817886,
            0.03678864985704422,
            -0.002409753855317831
        ],
        "speed": 0.11414300267026221,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.11983108520508,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                9.566359040036332e-06,
                -3.386238176972256e-06,
                0.00016319721180479974
            ],
            "speed_kmh": 0.0005886447150920037,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2342846393585205,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7418518066406
                    },
                    "rotation": {
                        "roll": 0.0005195068661123514,
                        "pitch": -0.218142569065094,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0008949287002906203,
                    "y": -6.818881956860423e-07,
                    "z": 0.23428292572498322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.690070390701294,
                "transform": {
                    "location": {
                        "x": 2187.875244140625,
                        "y": 2562.8251953125,
                        "z": 365.11956787109375
                    },
                    "rotation": {
                        "roll": 0.0009932341054081917,
                        "pitch": -0.31709834933280945,
                        "yaw": -89.85882568359375
                    }
                },
                "velocity": {
                    "x": 0.008647317998111248,
                    "y": -1.6900367736816406,
                    "z": 0.006238107569515705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6841299533843994,
                "transform": {
                    "location": {
                        "x": 2185.1142578125,
                        "y": 2457.6484375,
                        "z": 364.74273681640625
                    },
                    "rotation": {
                        "roll": 0.007700379937887192,
                        "pitch": 0.3641378581523895,
                        "yaw": 90.46379852294922
                    }
                },
                "velocity": {
                    "x": -0.005234062671661377,
                    "y": 0.6840776205062866,
                    "z": 0.006647815462201834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5322799682617188,
                "transform": {
                    "location": {
                        "x": 2221.82568359375,
                        "y": 2524.27001953125,
                        "z": 366.1009826660156
                    },
                    "rotation": {
                        "roll": -0.0357055626809597,
                        "pitch": -1.5533146858215332,
                        "yaw": -179.09043884277344
                    }
                },
                "velocity": {
                    "x": -2.531106948852539,
                    "y": -0.004035539459437132,
                    "z": -0.07695885747671127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.36281514167785645,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2551.208740234375,
                        "z": 365.1529235839844
                    },
                    "rotation": {
                        "roll": -0.003936796449124813,
                        "pitch": -0.40758469700813293,
                        "yaw": -89.78752899169922
                    }
                },
                "velocity": {
                    "x": 0.002616673707962036,
                    "y": -0.36280563473701477,
                    "z": 0.00023105621221475303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.107128087431192e-05,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68359375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.003875712864100933,
                        "pitch": 0.5327479243278503,
                        "yaw": 89.72341918945312
                    }
                },
                "velocity": {
                    "x": 5.543632141780108e-05,
                    "y": -3.2949446904240176e-06,
                    "z": 5.9063619119115174e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00047891633585095406,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -1.5364031791687012,
                        "yaw": 179.92047119140625
                    }
                },
                "velocity": {
                    "x": -4.908948903903365e-05,
                    "y": -5.984725248708855e-07,
                    "z": -0.0004763934703078121
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020276055147405714,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.795166015625,
                        "z": 365.1990966796875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.029144415631890297,
                        "yaw": -88.67060852050781
                    }
                },
                "velocity": {
                    "x": 1.328779853793094e-05,
                    "y": 3.061646566493437e-05,
                    "z": 0.00019999477081000805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007661188137717545,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -3.837026088149287e-05,
                    "y": -2.459637835272588e-05,
                    "z": 0.0007647618767805398
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00048282730858772993,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.947232057224028e-05,
                    "y": -1.4572360669262707e-05,
                    "z": 0.00047892890870571136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.728335913270712e-05,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -4.516795161180198e-05,
                    "y": -6.099276288296096e-05,
                    "z": -1.4575905879610218e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001143948029493913,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.413330078125,
                        "z": 365.0134582519531
                    },
                    "rotation": {
                        "roll": -6.103276973590255e-05,
                        "pitch": 0.373324453830719,
                        "yaw": 90.01982116699219
                    }
                },
                "velocity": {
                    "x": -1.2149718713772018e-05,
                    "y": -1.4839693903923035e-05,
                    "z": -0.00011277561134193093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001635124208405614,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.566359040036332e-06,
                    "y": -3.386238176972256e-06,
                    "z": 0.00016319721180479974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.06181456532795e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 8.110552698781248e-06,
                    "y": 1.2238993804203346e-05,
                    "z": 5.88131406402681e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8129470944404602,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2499.80126953125,
                        "z": 365.06976318359375
                    },
                    "rotation": {
                        "roll": -0.0005188194336369634,
                        "pitch": 0.48472484946250916,
                        "yaw": 90.12240600585938
                    }
                },
                "velocity": {
                    "x": -0.0030690988060086966,
                    "y": 0.8129371404647827,
                    "z": 0.0025961112696677446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.014038793742656708,
                "transform": {
                    "location": {
                        "x": 2185.0,
                        "y": 2510.207763671875,
                        "z": 365.12158203125
                    },
                    "rotation": {
                        "roll": 0.0009118402958847582,
                        "pitch": 0.15751098096370697,
                        "yaw": 90.43017578125
                    }
                },
                "velocity": {
                    "x": -0.0004379196325317025,
                    "y": 0.014026317745447159,
                    "z": 0.0003979439497925341
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01663619466125965,
        "expert_target_speed": 1.293699944222174,
        "target_point": [
            27.713828539411125,
            8.87080172423689
        ],
        "target_point_next": [
            27.713828539411125,
            8.87080172423689
        ]
    },
    "550": {
        "acceleration": [
            0.12012600898742676,
            -0.0613151490688324,
            -0.004050447605550289
        ],
        "angular_velocity": [
            -0.028685351833701134,
            -0.02906271256506443,
            1.393570065498352
        ],
        "forward_vector": [
            -0.9423769116401672,
            0.3340228497982025,
            -0.01882847025990486
        ],
        "right_vector": [
            -0.3339512348175049,
            -0.9425649046897888,
            -0.006918830331414938
        ],
        "location": [
            2177.213623046875,
            2523.637939453125,
            365.00146484375
        ],
        "rotation": [
            0.39649322628974915,
            -1.0788556337356567,
            160.4832763671875
        ],
        "velocity": [
            -0.1825731247663498,
            0.06271755695343018,
            -0.003397169057279825
        ],
        "speed": 0.1930451704579938,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.07923889160156,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                1.6340016372851096e-05,
                -7.931304253361304e-07,
                0.0004789477097801864
            ],
            "speed_kmh": 0.001725217261470075,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5102,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.64599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 1.2228262846747384e-07,
                    "y": -2.68819105864182e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0961620882153511,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.79034423828125
                    },
                    "rotation": {
                        "roll": 0.0012680224608629942,
                        "pitch": -0.21774642169475555,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0003744341083802283,
                    "y": -3.537121301633306e-05,
                    "z": 0.09616135060787201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0398707389831543,
                "transform": {
                    "location": {
                        "x": 2187.87548828125,
                        "y": 2562.6787109375,
                        "z": 365.1205749511719
                    },
                    "rotation": {
                        "roll": 0.002024637768045068,
                        "pitch": 0.01264951005578041,
                        "yaw": -89.84789276123047
                    }
                },
                "velocity": {
                    "x": 0.0026475912891328335,
                    "y": -1.0398586988449097,
                    "z": 0.004251775797456503
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4812883138656616,
                "transform": {
                    "location": {
                        "x": 2185.112060546875,
                        "y": 2457.93017578125,
                        "z": 364.744140625
                    },
                    "rotation": {
                        "roll": 0.007143376860767603,
                        "pitch": 0.7752264142036438,
                        "yaw": 90.45551300048828
                    }
                },
                "velocity": {
                    "x": -0.012481537647545338,
                    "y": 1.48116934299469,
                    "z": 0.014025935903191566
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5854249596595764,
                "transform": {
                    "location": {
                        "x": 2221.53662109375,
                        "y": 2524.267822265625,
                        "z": 366.0975341796875
                    },
                    "rotation": {
                        "roll": -0.0426635816693306,
                        "pitch": -2.2153921127319336,
                        "yaw": -179.25852966308594
                    }
                },
                "velocity": {
                    "x": -0.5851802825927734,
                    "y": -0.0012205378152430058,
                    "z": -0.016879558563232422
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2674815654754639,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.98583984375,
                        "z": 365.1513671875
                    },
                    "rotation": {
                        "roll": 0.0004333913966547698,
                        "pitch": 0.13634422421455383,
                        "yaw": -89.80496215820312
                    }
                },
                "velocity": {
                    "x": 0.002420870354399085,
                    "y": -1.267477035522461,
                    "z": 0.0023735903669148684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.20733655220829e-05,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68359375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.003662126837298274,
                        "pitch": 0.5328435301780701,
                        "yaw": 89.72341918945312
                    }
                },
                "velocity": {
                    "x": -7.046385871944949e-05,
                    "y": 3.0577183451896417e-07,
                    "z": -5.926427911617793e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007012128480710089,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -1.5364919900894165,
                        "yaw": 179.92037963867188
                    }
                },
                "velocity": {
                    "x": -3.506541179376654e-05,
                    "y": 8.920533218770288e-07,
                    "z": -0.0007003350183367729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000789762067142874,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.795166015625,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": -0.024991661310195923,
                        "yaw": -88.670654296875
                    }
                },
                "velocity": {
                    "x": -2.439159834466409e-05,
                    "y": -1.7276888684136793e-05,
                    "z": 0.0007891962304711342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003321299736853689,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": 2.4809180104057305e-05,
                    "y": -2.0069330275873654e-05,
                    "z": 0.0003305934660602361
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013346390333026648,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.96189672453329e-05,
                    "y": -2.4713845050428063e-05,
                    "z": 0.0013325929176062346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006422345177270472,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -9.86218437901698e-05,
                    "y": 8.869385055731982e-05,
                    "z": 0.0006283886614255607
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.20543459057807922,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.424560546875,
                        "z": 365.0135192871094
                    },
                    "rotation": {
                        "roll": 0.0006798471440561116,
                        "pitch": 0.39991438388824463,
                        "yaw": 90.02439880371094
                    }
                },
                "velocity": {
                    "x": 0.0002193842374254018,
                    "y": 0.20542719960212708,
                    "z": 0.0017279719468206167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004792270192410797,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.6340016372851096e-05,
                    "y": -7.931304253361304e-07,
                    "z": 0.0004789477097801864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010531594743952155,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 7.617845767526887e-06,
                    "y": -8.221817552112043e-06,
                    "z": 0.0010530998697504401
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6226316690444946,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2500.108642578125,
                        "z": 365.0708923339844
                    },
                    "rotation": {
                        "roll": 0.0018379281973466277,
                        "pitch": 0.5994173884391785,
                        "yaw": 90.08441162109375
                    }
                },
                "velocity": {
                    "x": -0.002015104051679373,
                    "y": 1.6226134300231934,
                    "z": 0.007438058499246836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.25661247968673706,
                "transform": {
                    "location": {
                        "x": 2185.0,
                        "y": 2510.299560546875,
                        "z": 365.1218566894531
                    },
                    "rotation": {
                        "roll": 0.00025249752798117697,
                        "pitch": 0.1292271763086319,
                        "yaw": 90.43730926513672
                    }
                },
                "velocity": {
                    "x": -0.0007190355681814253,
                    "y": 0.2566049098968506,
                    "z": 0.0018378066597506404
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.017209451645612717,
        "expert_target_speed": 1.3722949337070862,
        "target_point": [
            27.672455311680253,
            8.866596003235562
        ],
        "target_point_next": [
            27.672455311680253,
            8.866596003235562
        ]
    },
    "555": {
        "acceleration": [
            -1.1721312999725342,
            0.436306893825531,
            -0.027660932391881943
        ],
        "angular_velocity": [
            0.08046852052211761,
            0.23251765966415405,
            -0.6699997782707214
        ],
        "forward_vector": [
            -0.9421226978302002,
            0.33479514718055725,
            -0.017806541174650192
        ],
        "right_vector": [
            -0.33472293615341187,
            -0.942290723323822,
            -0.006979342084378004
        ],
        "location": [
            2177.133056640625,
            2523.666259765625,
            364.9997253417969
        ],
        "rotation": [
            0.3999535143375397,
            -1.0202935934066772,
            160.4366912841797
        ],
        "velocity": [
            -0.45139074325561523,
            0.15980355441570282,
            -0.009344958700239658
        ],
        "speed": 0.4788431675410533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.998046875,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                9.740516588863102e-07,
                2.159636642318219e-05,
                0.00034878894803114235
            ],
            "speed_kmh": 0.0012580497700251543,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5102,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15549211204051971,
                "transform": {
                    "location": {
                        "x": 2236.938720703125,
                        "y": 2524.330322265625,
                        "z": 366.5260925292969
                    },
                    "rotation": {
                        "roll": -0.0001220704143634066,
                        "pitch": -1.7681241035461426,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -0.0047862413339316845,
                    "y": 6.305438000708818e-05,
                    "z": 0.15541842579841614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1258538961410522,
                "transform": {
                    "location": {
                        "x": 2136.093505859375,
                        "y": 2527.303466796875,
                        "z": 364.7977294921875
                    },
                    "rotation": {
                        "roll": -0.0019226076547056437,
                        "pitch": -0.18701057136058807,
                        "yaw": -0.0838012769818306
                    }
                },
                "velocity": {
                    "x": 1.1257809400558472,
                    "y": 0.012429513968527317,
                    "z": -0.0031255243811756372
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.139352560043335,
                "transform": {
                    "location": {
                        "x": 2187.877197265625,
                        "y": 2562.272705078125,
                        "z": 365.12261962890625
                    },
                    "rotation": {
                        "roll": 0.0015425262972712517,
                        "pitch": 0.3208412826061249,
                        "yaw": -89.87242889404297
                    }
                },
                "velocity": {
                    "x": 0.006686368491500616,
                    "y": -2.139329195022583,
                    "z": 0.007446765899658203
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1792290210723877,
                "transform": {
                    "location": {
                        "x": 2185.108154296875,
                        "y": 2458.415283203125,
                        "z": 364.74853515625
                    },
                    "rotation": {
                        "roll": 0.005788167007267475,
                        "pitch": 0.8926578760147095,
                        "yaw": 90.47655487060547
                    }
                },
                "velocity": {
                    "x": -0.018090950325131416,
                    "y": 2.1790499687194824,
                    "z": 0.02129507064819336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9047422409057617,
                "transform": {
                    "location": {
                        "x": 2221.209228515625,
                        "y": 2524.2666015625,
                        "z": 366.0832824707031
                    },
                    "rotation": {
                        "roll": -0.010833737440407276,
                        "pitch": -1.6235358715057373,
                        "yaw": -179.44241333007812
                    }
                },
                "velocity": {
                    "x": -1.9039437770843506,
                    "y": 0.00106157292611897,
                    "z": -0.055137958377599716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.141772985458374,
                "transform": {
                    "location": {
                        "x": 2187.90087890625,
                        "y": 2550.556396484375,
                        "z": 365.15130615234375
                    },
                    "rotation": {
                        "roll": 0.0014646383933722973,
                        "pitch": 0.3660912811756134,
                        "yaw": -89.80355072021484
                    }
                },
                "velocity": {
                    "x": 0.003787119872868061,
                    "y": -2.141767978668213,
                    "z": 0.0026273727416992188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0001613165222806856,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.68359375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.0035705557093024254,
                        "pitch": 0.5328776836395264,
                        "yaw": 89.72341918945312
                    }
                },
                "velocity": {
                    "x": -9.642253280617297e-05,
                    "y": -4.24012523581041e-06,
                    "z": 0.00012925840565003455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001381546026095748,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -1.5364645719528198,
                        "yaw": 179.9203338623047
                    }
                },
                "velocity": {
                    "x": -4.543244722299278e-05,
                    "y": -1.7981676137424074e-05,
                    "z": -0.00012922556197736412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.58353858650662e-05,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.795166015625,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": -0.0010375984711572528,
                        "pitch": -0.024103736504912376,
                        "yaw": -88.670654296875
                    }
                },
                "velocity": {
                    "x": 1.9425649952609092e-05,
                    "y": -1.5250237993313931e-05,
                    "z": -5.007658910471946e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008348546107299626,
                "transform": {
                    "location": {
                        "x": 2185.02978515625,
                        "y": 2479.0859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 1.800983773136977e-05,
                        "pitch": 0.44796475768089294,
                        "yaw": 89.99407958984375
                    }
                },
                "velocity": {
                    "x": -7.1674153332423884e-06,
                    "y": -3.7000252632424235e-05,
                    "z": 0.0008340034983120859
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008168220520019531,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -6.972580740693957e-05,
                    "y": 2.4880841010599397e-05,
                    "z": 0.0008134602103382349
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00012108961527701467,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -3.333807035232894e-05,
                    "y": 7.751894008833915e-05,
                    "z": -8.684516069479287e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0894148349761963,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.578857421875,
                        "z": 365.01458740234375
                    },
                    "rotation": {
                        "roll": 0.0007587427389807999,
                        "pitch": 0.5218127369880676,
                        "yaw": 90.04167938232422
                    }
                },
                "velocity": {
                    "x": -0.0017713340930640697,
                    "y": 1.0893932580947876,
                    "z": 0.0066323853097856045
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003494582779239863,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.740516588863102e-07,
                    "y": 2.159636642318219e-05,
                    "z": 0.00034878894803114235
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.284563278313726e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.5459656424354762e-05,
                    "y": -3.5602226944320137e-06,
                    "z": -6.0810340073658153e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3214731216430664,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2500.623291015625,
                        "z": 365.0733642578125
                    },
                    "rotation": {
                        "roll": 0.0002722106291912496,
                        "pitch": 0.6390870809555054,
                        "yaw": 90.09747314453125
                    }
                },
                "velocity": {
                    "x": -0.0030173431150615215,
                    "y": 2.3214471340179443,
                    "z": 0.010538148693740368
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4518791735172272,
                "transform": {
                    "location": {
                        "x": 2185.0,
                        "y": 2510.40234375,
                        "z": 365.1221923828125
                    },
                    "rotation": {
                        "roll": 0.0016238170210272074,
                        "pitch": 0.161049023270607,
                        "yaw": 90.39836883544922
                    }
                },
                "velocity": {
                    "x": -0.0011844928376376629,
                    "y": 0.4518740475177765,
                    "z": 0.0017985820304602385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05635489523410797,
        "expert_target_speed": 1.6569913206904805,
        "target_point": [
            27.579834839246274,
            8.888812106155768
        ],
        "target_point_next": [
            27.579834839246274,
            8.888812106155768
        ]
    },
    "560": {
        "acceleration": [
            -2.43935227394104,
            0.6552302837371826,
            -0.04805736243724823
        ],
        "angular_velocity": [
            -0.059907473623752594,
            0.36583220958709717,
            1.692958116531372
        ],
        "forward_vector": [
            -0.9425835609436035,
            0.33358898758888245,
            -0.015956437215209007
        ],
        "right_vector": [
            -0.33352431654930115,
            -0.9427182078361511,
            -0.006634522695094347
        ],
        "location": [
            2176.9443359375,
            2523.7314453125,
            364.9955139160156
        ],
        "rotation": [
            0.38018134236335754,
            -0.9142754077911377,
            160.5106658935547
        ],
        "velocity": [
            -1.0093028545379639,
            0.3349129557609558,
            -0.019457044079899788
        ],
        "speed": 1.0634185159733782,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.807960510253906,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                -1.7929449313669465e-05,
                -1.9676052033901215e-05,
                -2.4212909920606762e-05
            ],
            "speed_kmh": 0.00012954384699281245,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5102,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0775607824325562,
                "transform": {
                    "location": {
                        "x": 2236.85205078125,
                        "y": 2524.3291015625,
                        "z": 366.551513671875
                    },
                    "rotation": {
                        "roll": -0.006805418990552425,
                        "pitch": -1.6258512735366821,
                        "yaw": 179.95228576660156
                    }
                },
                "velocity": {
                    "x": -1.0772734880447388,
                    "y": -0.008330761454999447,
                    "z": 0.02344621531665325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7660319805145264,
                "transform": {
                    "location": {
                        "x": 2136.461181640625,
                        "y": 2527.3056640625,
                        "z": 364.7957458496094
                    },
                    "rotation": {
                        "roll": -0.00244140625,
                        "pitch": -0.19137506186962128,
                        "yaw": 0.11736049503087997
                    }
                },
                "velocity": {
                    "x": 1.765873670578003,
                    "y": 0.021571606397628784,
                    "z": -0.009689216502010822
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8375608921051025,
                "transform": {
                    "location": {
                        "x": 2187.87841796875,
                        "y": 2561.73681640625,
                        "z": 365.12445068359375
                    },
                    "rotation": {
                        "roll": 0.0019537806510925293,
                        "pitch": 0.20959118008613586,
                        "yaw": -89.98411560058594
                    }
                },
                "velocity": {
                    "x": 0.0028285591397434473,
                    "y": -1.837542176246643,
                    "z": 0.007787008304148912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0010582711547613144,
                "transform": {
                    "location": {
                        "x": 2185.1064453125,
                        "y": 2458.6435546875,
                        "z": 364.7537841796875
                    },
                    "rotation": {
                        "roll": 0.0055375974625349045,
                        "pitch": 0.10193374007940292,
                        "yaw": 90.47964477539062
                    }
                },
                "velocity": {
                    "x": -8.136204996844754e-05,
                    "y": 0.0010076628532260656,
                    "z": 0.0003129434771835804
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2700388431549072,
                "transform": {
                    "location": {
                        "x": 2220.65576171875,
                        "y": 2524.26611328125,
                        "z": 366.06658935546875
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": -1.5609098672866821,
                        "yaw": -179.57855224609375
                    }
                },
                "velocity": {
                    "x": -1.2694966793060303,
                    "y": 0.0037943199276924133,
                    "z": -0.03691082447767258
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0746588706970215,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2550.03076171875,
                        "z": 365.1532287597656
                    },
                    "rotation": {
                        "roll": 0.001352722174488008,
                        "pitch": 0.0787179246544838,
                        "yaw": -89.75009155273438
                    }
                },
                "velocity": {
                    "x": -0.0037591117434203625,
                    "y": -1.0746514797210693,
                    "z": 0.0013400744646787643
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.24348615109920502,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.69677734375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": -0.00558470981195569,
                        "pitch": 0.5775675773620605,
                        "yaw": 89.70661163330078
                    }
                },
                "velocity": {
                    "x": -0.0012586793163791299,
                    "y": 0.24347122013568878,
                    "z": 0.0023843287490308285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.001678466796875,
                        "pitch": -1.5365875959396362,
                        "yaw": 179.9202117919922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018543384794611484,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.794921875,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": -0.0013122559757903218,
                        "pitch": -0.023714415729045868,
                        "yaw": -88.670654296875
                    }
                },
                "velocity": {
                    "x": 2.5559689674992114e-05,
                    "y": -1.1343165169819258e-05,
                    "z": 0.00018331324099563062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.20861467719078064,
                "transform": {
                    "location": {
                        "x": 2185.030029296875,
                        "y": 2479.1005859375,
                        "z": 364.9742736816406
                    },
                    "rotation": {
                        "roll": -0.0004882944631390274,
                        "pitch": 0.46379029750823975,
                        "yaw": 90.00650787353516
                    }
                },
                "velocity": {
                    "x": -0.0022826974745839834,
                    "y": 0.20859456062316895,
                    "z": 0.001783237443305552
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012014127423753962,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -4.8549471102887765e-05,
                    "y": -7.541935246990761e-06,
                    "z": 0.00010963573004119098
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.365174678852782e-05,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -4.620939216692932e-05,
                    "y": 3.393048245925456e-05,
                    "z": -4.623845234164037e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.366612434387207,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2490.017822265625,
                        "z": 365.0174560546875
                    },
                    "rotation": {
                        "roll": 0.00046122397179715335,
                        "pitch": 0.6102432012557983,
                        "yaw": 90.0513916015625
                    }
                },
                "velocity": {
                    "x": -0.002940142061561346,
                    "y": 2.3665692806243896,
                    "z": 0.014005813747644424
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.598440162022598e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": -1.7929449313669465e-05,
                    "y": -1.9676052033901215e-05,
                    "z": -2.4212909920606762e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.682005914626643e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.099841008719523e-06,
                    "y": -7.318423058677581e-07,
                    "z": 6.619348278036341e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00635345047339797,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2500.9375,
                        "z": 365.0780029296875
                    },
                    "rotation": {
                        "roll": 0.0013342428719624877,
                        "pitch": -0.20073924958705902,
                        "yaw": 90.09703826904297
                    }
                },
                "velocity": {
                    "x": -3.6887067835778e-05,
                    "y": 0.0063445377163589,
                    "z": 0.00033438269747421145
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3012606203556061,
                "transform": {
                    "location": {
                        "x": 2185.0,
                        "y": 2510.50244140625,
                        "z": 365.1225280761719
                    },
                    "rotation": {
                        "roll": 0.0009980644099414349,
                        "pitch": 0.13973882794380188,
                        "yaw": 90.42511749267578
                    }
                },
                "velocity": {
                    "x": -0.002196473302319646,
                    "y": 0.3012445271015167,
                    "z": 0.0022057914175093174
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11768626421689987,
        "expert_target_speed": 2.2384100748937317,
        "target_point": [
            27.391634110775684,
            8.851679120380663
        ],
        "target_point_next": [
            27.391634110775684,
            8.851679120380663
        ]
    },
    "565": {
        "acceleration": [
            -2.1770453453063965,
            0.46686410903930664,
            -0.035631097853183746
        ],
        "angular_velocity": [
            -0.05109289288520813,
            0.12275777012109756,
            1.3798972368240356
        ],
        "forward_vector": [
            -0.94478839635849,
            0.3273347020149231,
            -0.01506057009100914
        ],
        "right_vector": [
            -0.3272813558578491,
            -0.9449081420898438,
            -0.005950151011347771
        ],
        "location": [
            2176.619384765625,
            2523.83544921875,
            364.9888610839844
        ],
        "rotation": [
            0.34095922112464905,
            -0.862939715385437,
            160.8906707763672
        ],
        "velocity": [
            -1.573420524597168,
            0.4795196056365967,
            -0.031216759234666824
        ],
        "speed": 1.6448681404336045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.481048583984375,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                1.6144998880918138e-05,
                -6.591471446881769e-06,
                0.0003548581444192678
            ],
            "speed_kmh": 0.001279030964615087,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5102,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3537769317626953,
                "transform": {
                    "location": {
                        "x": 2236.4111328125,
                        "y": 2524.325927734375,
                        "z": 366.544677734375
                    },
                    "rotation": {
                        "roll": -0.004852293990552425,
                        "pitch": -1.5734500885009766,
                        "yaw": -179.9615936279297
                    }
                },
                "velocity": {
                    "x": -2.3529345989227295,
                    "y": -0.011031978763639927,
                    "z": -0.06199441850185394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.302572727203369,
                "transform": {
                    "location": {
                        "x": 2136.972900390625,
                        "y": 2527.310791015625,
                        "z": 364.7935485839844
                    },
                    "rotation": {
                        "roll": -0.0030212400015443563,
                        "pitch": -0.1990043818950653,
                        "yaw": 0.2566225528717041
                    }
                },
                "velocity": {
                    "x": 2.302372932434082,
                    "y": 0.028915340080857277,
                    "z": -0.00918094627559185
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1239752769470215,
                "transform": {
                    "location": {
                        "x": 2187.878662109375,
                        "y": 2561.271240234375,
                        "z": 365.12628173828125
                    },
                    "rotation": {
                        "roll": 0.0009646259713917971,
                        "pitch": 0.24118763208389282,
                        "yaw": -90.06094360351562
                    }
                },
                "velocity": {
                    "x": 0.004121578298509121,
                    "y": -2.1239607334136963,
                    "z": 0.00667820917442441
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.003436420112848282,
                "transform": {
                    "location": {
                        "x": 2185.1064453125,
                        "y": 2458.645263671875,
                        "z": 364.7528381347656
                    },
                    "rotation": {
                        "roll": 0.005674650892615318,
                        "pitch": 0.35874199867248535,
                        "yaw": 90.47966003417969
                    }
                },
                "velocity": {
                    "x": 7.715152605669573e-05,
                    "y": -0.003336193971335888,
                    "z": 0.0008202686440199614
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002243396360427141,
                "transform": {
                    "location": {
                        "x": 2220.635986328125,
                        "y": 2524.26611328125,
                        "z": 366.07086181640625
                    },
                    "rotation": {
                        "roll": -0.02700805850327015,
                        "pitch": -2.159268617630005,
                        "yaw": -179.57516479492188
                    }
                },
                "velocity": {
                    "x": 0.002180105308070779,
                    "y": -0.00041806205990724266,
                    "z": -0.0003243331448175013
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0044062440283596516,
                "transform": {
                    "location": {
                        "x": 2187.90087890625,
                        "y": 2550.015625,
                        "z": 365.15484619140625
                    },
                    "rotation": {
                        "roll": -0.004516610875725746,
                        "pitch": -0.3448494076728821,
                        "yaw": -89.72393035888672
                    }
                },
                "velocity": {
                    "x": -6.858070992166176e-05,
                    "y": 0.004395012278109789,
                    "z": -0.00030683953082188964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9342249035835266,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2468.846923828125,
                        "z": 364.84967041015625
                    },
                    "rotation": {
                        "roll": -0.008850100450217724,
                        "pitch": 0.7394294142723083,
                        "yaw": 89.72265625
                    }
                },
                "velocity": {
                    "x": -0.001488759065978229,
                    "y": 0.9341971278190613,
                    "z": 0.0070508383214473724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00032703057513572276,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.001678466796875,
                        "pitch": -1.5365875959396362,
                        "yaw": 179.9202117919922
                    }
                },
                "velocity": {
                    "x": -5.792230149381794e-05,
                    "y": 7.950133294798434e-06,
                    "z": -0.0003217620251234621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008092497009783983,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.795166015625,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": -0.0005493150092661381,
                        "pitch": -0.024356452748179436,
                        "yaw": -88.670654296875
                    }
                },
                "velocity": {
                    "x": 2.9769435059279203e-05,
                    "y": 5.960357157164253e-06,
                    "z": 0.0008086799643933773
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9773653149604797,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2479.24658203125,
                        "z": 364.9750061035156
                    },
                    "rotation": {
                        "roll": 0.0009797979146242142,
                        "pitch": 0.5138419270515442,
                        "yaw": 90.03443908691406
                    }
                },
                "velocity": {
                    "x": -0.0009402978466823697,
                    "y": 0.9773356318473816,
                    "z": 0.007558660116046667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010827821679413319,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -7.042884681141004e-05,
                    "y": -1.2054018952767365e-05,
                    "z": 0.0010804219637066126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.821412822930142e-05,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -3.892659879056737e-05,
                    "y": 5.7534565712558106e-05,
                    "z": -6.942988693481311e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.534648895263672,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2490.7861328125,
                        "z": 365.0223083496094
                    },
                    "rotation": {
                        "roll": -0.0007019502227194607,
                        "pitch": 0.6236782073974609,
                        "yaw": 90.04843139648438
                    }
                },
                "velocity": {
                    "x": -0.005216195248067379,
                    "y": 3.534578800201416,
                    "z": 0.0216098390519619
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00035528637818060815,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.6144998880918138e-05,
                    "y": -6.591471446881769e-06,
                    "z": 0.0003548581444192678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008004619157873094,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 9.39991332415957e-06,
                    "y": 2.786830236800597e-06,
                    "z": 0.0008004019036889076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004054231569170952,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2500.938720703125,
                        "z": 365.0772705078125
                    },
                    "rotation": {
                        "roll": 0.0015897927805781364,
                        "pitch": 0.0032511698082089424,
                        "yaw": 90.09703063964844
                    }
                },
                "velocity": {
                    "x": 0.00010920510976575315,
                    "y": -0.003867324208840728,
                    "z": 0.001211886527016759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.016100995242595673,
                "transform": {
                    "location": {
                        "x": 2184.999755859375,
                        "y": 2510.64892578125,
                        "z": 365.12298583984375
                    },
                    "rotation": {
                        "roll": 0.0018959793960675597,
                        "pitch": 0.17026294767856598,
                        "yaw": 90.37290954589844
                    }
                },
                "velocity": {
                    "x": 0.0002576685801614076,
                    "y": 0.01608322188258171,
                    "z": 0.0007110655424185097
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18560954928398132,
        "expert_target_speed": 2.8147021647596517,
        "target_point": [
            27.108645590555223,
            8.661708573411929
        ],
        "target_point_next": [
            27.108645590555223,
            8.661708573411929
        ]
    },
    "570": {
        "acceleration": [
            -2.01108455657959,
            -0.006655454635620117,
            -0.03779105842113495
        ],
        "angular_velocity": [
            -0.45992517471313477,
            0.032449644058942795,
            7.158366680145264
        ],
        "forward_vector": [
            -0.950993537902832,
            0.3088536858558655,
            -0.014857698231935501
        ],
        "right_vector": [
            -0.3088284432888031,
            -0.9511092901229858,
            -0.004021041095256805
        ],
        "location": [
            2176.147216796875,
            2523.967041015625,
            364.9792785644531
        ],
        "rotation": [
            0.2304147183895111,
            -0.8513147234916687,
            162.00778198242188
        ],
        "velocity": [
            -2.1584062576293945,
            0.5266520380973816,
            -0.042229633778333664
        ],
        "speed": 2.2217290433817203,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.00677490234375,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                1.3728923477174249e-05,
                -1.5207150681817438e-05,
                0.00048753421287983656
            ],
            "speed_kmh": 0.00175667218612945,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5103,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0829052925109863,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.13677978515625
                    },
                    "rotation": {
                        "roll": 0.0001418627507518977,
                        "pitch": 0.3677578568458557,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0003697057836689055,
                    "y": -0.012902507558465004,
                    "z": -2.0828654766082764
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5102,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.876680374145508,
                "transform": {
                    "location": {
                        "x": 2235.6337890625,
                        "y": 2524.32177734375,
                        "z": 366.52203369140625
                    },
                    "rotation": {
                        "roll": -0.011199950240552425,
                        "pitch": -1.5311576128005981,
                        "yaw": -179.84288024902344
                    }
                },
                "velocity": {
                    "x": -3.8748586177825928,
                    "y": -0.022327536717057228,
                    "z": -0.11672031879425049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8751156330108643,
                "transform": {
                    "location": {
                        "x": 2137.623046875,
                        "y": 2527.31787109375,
                        "z": 364.791015625
                    },
                    "rotation": {
                        "roll": -0.002960205078125,
                        "pitch": -0.19894291460514069,
                        "yaw": 0.4097943603992462
                    }
                },
                "velocity": {
                    "x": 2.874847412109375,
                    "y": 0.03784739971160889,
                    "z": -0.010459785349667072
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8128228187561035,
                "transform": {
                    "location": {
                        "x": 2187.87939453125,
                        "y": 2560.741455078125,
                        "z": 365.1281433105469
                    },
                    "rotation": {
                        "roll": 0.0026259657461196184,
                        "pitch": 0.17162898182868958,
                        "yaw": -90.13628387451172
                    }
                },
                "velocity": {
                    "x": -0.00018599604663904756,
                    "y": -1.8128095865249634,
                    "z": 0.0069458577781915665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5099,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0014029775047674775,
                "transform": {
                    "location": {
                        "x": 2185.1064453125,
                        "y": 2458.646240234375,
                        "z": 364.75225830078125
                    },
                    "rotation": {
                        "roll": 0.00626423629000783,
                        "pitch": 0.5215463638305664,
                        "yaw": 90.47969818115234
                    }
                },
                "velocity": {
                    "x": 0.00016887196397874504,
                    "y": -0.0012543387711048126,
                    "z": 0.0006053613615222275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5097,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0023634368553757668,
                "transform": {
                    "location": {
                        "x": 2220.632080078125,
                        "y": 2524.26611328125,
                        "z": 366.0675354003906
                    },
                    "rotation": {
                        "roll": -0.01605224423110485,
                        "pitch": -1.767120122909546,
                        "yaw": -179.57553100585938
                    }
                },
                "velocity": {
                    "x": 0.0022810520604252815,
                    "y": -0.00022406826610676944,
                    "z": -0.0005765659734606743
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5096,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0024233716540038586,
                "transform": {
                    "location": {
                        "x": 2187.90087890625,
                        "y": 2550.013916015625,
                        "z": 365.1537780761719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.06982502341270447,
                        "yaw": -89.72402954101562
                    }
                },
                "velocity": {
                    "x": -2.4750232114456594e-05,
                    "y": 0.0023149936459958553,
                    "z": 0.0007161855464801192
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5095,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7717291116714478,
                "transform": {
                    "location": {
                        "x": 2185.048583984375,
                        "y": 2469.188232421875,
                        "z": 364.852294921875
                    },
                    "rotation": {
                        "roll": -0.009582559578120708,
                        "pitch": 0.8407962322235107,
                        "yaw": 89.79279327392578
                    }
                },
                "velocity": {
                    "x": -0.0023880249354988337,
                    "y": 1.7716615200042725,
                    "z": 0.01528203021734953
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5093,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013108142593409866,
                "transform": {
                    "location": {
                        "x": 2210.060302734375,
                        "y": 2524.2900390625,
                        "z": 365.76123046875
                    },
                    "rotation": {
                        "roll": -0.001678466796875,
                        "pitch": -1.5365875959396362,
                        "yaw": 179.9202117919922
                    }
                },
                "velocity": {
                    "x": -4.707455445895903e-05,
                    "y": 1.598871222086018e-07,
                    "z": -0.00012233683082740754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5092,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002321869833394885,
                "transform": {
                    "location": {
                        "x": 2187.95751953125,
                        "y": 2539.794921875,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": -0.023864679038524628,
                        "yaw": -88.670654296875
                    }
                },
                "velocity": {
                    "x": 5.7623306929599494e-05,
                    "y": -1.782350864232285e-06,
                    "z": 0.00022491592972073704
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5091,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7127841711044312,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2479.59130859375,
                        "z": 364.9775390625
                    },
                    "rotation": {
                        "roll": -0.00109858566429466,
                        "pitch": 0.5234588384628296,
                        "yaw": 90.06619262695312
                    }
                },
                "velocity": {
                    "x": -0.0023706520441919565,
                    "y": 1.7127408981323242,
                    "z": 0.011929206550121307
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003584990045055747,
                "transform": {
                    "location": {
                        "x": 2170.975341796875,
                        "y": 2527.326904296875,
                        "z": 364.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.9748591780662537,
                        "yaw": -0.1911926120519638
                    }
                },
                "velocity": {
                    "x": -5.159988722880371e-05,
                    "y": 8.781018578929434e-08,
                    "z": 0.0003547660890035331
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5089,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015494090621359646,
                "transform": {
                    "location": {
                        "x": 2200.55419921875,
                        "y": 2524.279052734375,
                        "z": 365.5172424316406
                    },
                    "rotation": {
                        "roll": -0.0268859826028347,
                        "pitch": -1.4307265281677246,
                        "yaw": -179.04052734375
                    }
                },
                "velocity": {
                    "x": -5.681246329913847e-05,
                    "y": 4.465391248231754e-05,
                    "z": 0.0001370585960103199
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.447751522064209,
                "transform": {
                    "location": {
                        "x": 2185.02001953125,
                        "y": 2491.542236328125,
                        "z": 365.02691650390625
                    },
                    "rotation": {
                        "roll": 0.0014213350368663669,
                        "pitch": 0.26716282963752747,
                        "yaw": 90.06822204589844
                    }
                },
                "velocity": {
                    "x": -0.0028138374909758568,
                    "y": 2.4476962089538574,
                    "z": 0.0162211786955595
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004879644839093089,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.3728923477174249e-05,
                    "y": -1.5207150681817438e-05,
                    "z": 0.00048753421287983656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00025653347256593406,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -4.713237160558492e-07,
                    "y": 1.348592559224926e-05,
                    "z": 0.00025617831852287054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002149562817066908,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2500.93994140625,
                        "z": 365.0765686035156
                    },
                    "rotation": {
                        "roll": 0.0006832832004874945,
                        "pitch": 0.20114906132221222,
                        "yaw": 90.09703063964844
                    }
                },
                "velocity": {
                    "x": -0.0001849354594014585,
                    "y": -0.0015255885664373636,
                    "z": 0.0015029966598376632
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5072,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0026596784591675,
                "transform": {
                    "location": {
                        "x": 2184.999755859375,
                        "y": 2510.77294921875,
                        "z": 365.12347412109375
                    },
                    "rotation": {
                        "roll": 0.0036546734627336264,
                        "pitch": 0.27552297711372375,
                        "yaw": 90.36468505859375
                    }
                },
                "velocity": {
                    "x": -0.0023554814979434013,
                    "y": 1.0026530027389526,
                    "z": 0.002790374681353569
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2671440839767456,
        "expert_target_speed": 3.383186173504004,
        "target_point": [
            26.782637800844796,
            8.110857825143402
        ],
        "target_point_next": [
            26.782637800844796,
            8.110857825143402
        ]
    },
    "575": {
        "acceleration": [
            -2.274155616760254,
            -0.002363920211791992,
            -0.05653455853462219
        ],
        "angular_velocity": [
            -0.32516613602638245,
            0.05746966227889061,
            8.176897048950195
        ],
        "forward_vector": [
            -0.9609391689300537,
            0.2763332724571228,
            -0.015354148112237453
        ],
        "right_vector": [
            -0.2763286828994751,
            -0.9610599875450134,
            -0.00246080057695508
        ],
        "location": [
            2175.5439453125,
            2524.104248046875,
            364.9674072265625
        ],
        "rotation": [
            0.14101025462150574,
            -0.8797624707221985,
            163.95657348632812
        ],
        "velocity": [
            -2.681135892868042,
            0.5258905291557312,
            -0.05346290022134781
        ],
        "speed": 2.7322244645491716,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.40177536010742,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                9.107812729780562e-06,
                3.607524558901787e-05,
                0.0009006179170683026
            ],
            "speed_kmh": 0.003244990173407855,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5086581707000732,
                "transform": {
                    "location": {
                        "x": 2138.420654296875,
                        "y": 2527.32421875,
                        "z": 364.7880859375
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": -0.19711241126060486,
                        "yaw": 0.4356279671192169
                    }
                },
                "velocity": {
                    "x": 3.5085651874542236,
                    "y": 0.021752115339040756,
                    "z": -0.013392534106969833
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0990937352180481,
                "transform": {
                    "location": {
                        "x": 2170.9814453125,
                        "y": 2527.326904296875,
                        "z": 364.8894348144531
                    },
                    "rotation": {
                        "roll": -0.0010681148851290345,
                        "pitch": 0.9671615362167358,
                        "yaw": -0.19671626389026642
                    }
                },
                "velocity": {
                    "x": 0.0990731492638588,
                    "y": -0.00032761358306743205,
                    "z": 0.00199297908693552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009013861417770386,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 9.107812729780562e-06,
                    "y": 3.607524558901787e-05,
                    "z": 0.0009006179170683026
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008547248435206711,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8304138183594
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2172205001115799,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 1.4891624232404865e-05,
                    "y": 2.661836515471805e-05,
                    "z": 0.0008541804854758084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.30213311314582825,
        "expert_target_speed": 3.882237075281577,
        "target_point": [
            26.4252755200052,
            7.160517122286133
        ],
        "target_point_next": [
            26.4252755200052,
            7.160517122286133
        ]
    },
    "580": {
        "acceleration": [
            -2.807164192199707,
            -0.16738712787628174,
            -0.06834201514720917
        ],
        "angular_velocity": [
            -0.45148059725761414,
            0.24401500821113586,
            11.704961776733398
        ],
        "forward_vector": [
            -0.9722418189048767,
            0.23348768055438995,
            -0.01514317188411951
        ],
        "right_vector": [
            -0.23350463807582855,
            -0.9723554253578186,
            -0.0006624033558182418
        ],
        "location": [
            2174.795166015625,
            2524.24169921875,
            364.9524230957031
        ],
        "rotation": [
            0.03795727342367172,
            -0.8676730394363403,
            166.4959259033203
        ],
        "velocity": [
            -3.3247969150543213,
            0.4993303120136261,
            -0.06589460372924805
        ],
        "speed": 3.362083474105061,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.6517448425293,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                1.63329386850819e-05,
                -1.675886960583739e-05,
                0.00020789694099221379
            ],
            "speed_kmh": 0.00075315547147277,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.1025896072387695,
                "transform": {
                    "location": {
                        "x": 2139.39501953125,
                        "y": 2527.33056640625,
                        "z": 364.78424072265625
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.1957668662071228,
                        "yaw": 0.3900354504585266
                    }
                },
                "velocity": {
                    "x": 4.102493762969971,
                    "y": 0.023606522008776665,
                    "z": -0.015041894279420376
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8598706722259521,
                "transform": {
                    "location": {
                        "x": 2171.1005859375,
                        "y": 2527.326171875,
                        "z": 364.8920593261719
                    },
                    "rotation": {
                        "roll": -0.00018310538143850863,
                        "pitch": 0.9173967838287354,
                        "yaw": -0.144500732421875
                    }
                },
                "velocity": {
                    "x": 0.8597368597984314,
                    "y": -0.002026795409619808,
                    "z": 0.015033559873700142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020920985843986273,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 1.63329386850819e-05,
                    "y": -1.675886960583739e-05,
                    "z": 0.00020789694099221379
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2691963911056519,
                "transform": {
                    "location": {
                        "x": 2130.011474609375,
                        "y": 2524.5634765625,
                        "z": 364.8318176269531
                    },
                    "rotation": {
                        "roll": 0.004028823226690292,
                        "pitch": 0.10758913308382034,
                        "yaw": 179.8663330078125
                    }
                },
                "velocity": {
                    "x": -1.269100546836853,
                    "y": -0.015103562735021114,
                    "z": 0.0038776493165642023
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3198002278804779,
        "expert_target_speed": 4.4912676089340415,
        "target_point": [
            25.956399804370218,
            5.941511383645718
        ],
        "target_point_next": [
            25.956399804370218,
            5.941511383645718
        ]
    },
    "585": {
        "acceleration": [
            -2.839779853820801,
            -0.6051981449127197,
            -0.06126895546913147
        ],
        "angular_velocity": [
            -0.5974499583244324,
            0.14087744057178497,
            13.34354305267334
        ],
        "forward_vector": [
            -0.9834397435188293,
            0.1806366890668869,
            -0.014722529798746109
        ],
        "right_vector": [
            -0.18068166077136993,
            -0.9835400581359863,
            0.0017724066274240613
        ],
        "location": [
            2173.870361328125,
            2524.365966796875,
            364.9339294433594
        ],
        "rotation": [
            -0.10156247764825821,
            -0.843569278717041,
            169.59201049804688
        ],
        "velocity": [
            -4.05813455581665,
            0.3952657878398895,
            -0.08007291704416275
        ],
        "speed": 4.0773387296311165,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.72623062133789,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.14453125,
                2524.48681640625,
                364.8228454589844
            ],
            "velocity": [
                4.36358141087112e-06,
                -4.336211350164376e-05,
                7.059576455503702e-05
            ],
            "speed_kmh": 0.000298671493639868,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.941330671310425,
                "transform": {
                    "location": {
                        "x": 2140.28271484375,
                        "y": 2527.3359375,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.24493740499019623,
                        "yaw": 0.3626222610473633
                    }
                },
                "velocity": {
                    "x": 2.941258430480957,
                    "y": 0.016464946791529655,
                    "z": -0.012414750643074512
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2151.0029296875,
                        "y": 2527.364013671875,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0006433888338506222,
                        "pitch": -0.19012513756752014,
                        "yaw": -0.0925903245806694
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.75689697265625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.39333006739616394,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6136093139648438,
                "transform": {
                    "location": {
                        "x": 2171.412841796875,
                        "y": 2527.3251953125,
                        "z": 364.8979187011719
                    },
                    "rotation": {
                        "roll": 0.00030928660999052227,
                        "pitch": 0.9208118915557861,
                        "yaw": -0.1372070163488388
                    }
                },
                "velocity": {
                    "x": 1.6133251190185547,
                    "y": -0.003953958861529827,
                    "z": 0.03002072311937809
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.29643031465821e-05,
                "transform": {
                    "location": {
                        "x": 2140.14453125,
                        "y": 2524.48681640625,
                        "z": 364.8228454589844
                    },
                    "rotation": {
                        "roll": 0.0012095250422134995,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8370361328125
                    }
                },
                "velocity": {
                    "x": 4.36358141087112e-06,
                    "y": -4.336211350164376e-05,
                    "z": 7.059576455503702e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2626094818115234,
                "transform": {
                    "location": {
                        "x": 2129.557373046875,
                        "y": 2524.5595703125,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.003300516400486231,
                        "pitch": 0.10472045093774796,
                        "yaw": -179.980712890625
                    }
                },
                "velocity": {
                    "x": -2.2624456882476807,
                    "y": -0.026216430589556694,
                    "z": 0.007357463706284761
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3092919588088989,
        "expert_target_speed": 5.170682881128613,
        "target_point": [
            25.307380396317914,
            4.486064705789884
        ],
        "target_point_next": [
            25.307380396317914,
            4.486064705789884
        ]
    },
    "590": {
        "acceleration": [
            -2.0537757873535156,
            -0.7841134071350098,
            -0.0048860907554626465
        ],
        "angular_velocity": [
            -0.38773834705352783,
            0.12144105136394501,
            14.455146789550781
        ],
        "forward_vector": [
            -0.9928045868873596,
            0.11884155869483948,
            -0.014688321389257908
        ],
        "right_vector": [
            -0.11891817301511765,
            -0.9928941130638123,
            0.00445444043725729
        ],
        "location": [
            2172.781005859375,
            2524.450927734375,
            364.91326904296875
        ],
        "rotation": [
            -0.2552490234375,
            -0.8416090607643127,
            173.17401123046875
        ],
        "velocity": [
            -4.620413303375244,
            0.18981610238552094,
            -0.08419058471918106
        ],
        "speed": 4.624310678007238,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.658348083496094,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2140.122802734375,
                2524.48681640625,
                364.8227233886719
            ],
            "velocity": [
                -0.274507999420166,
                0.0005022601108066738,
                0.0013685417361557484
            ],
            "speed_kmh": 0.988242732960401,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1637219935655594,
                "transform": {
                    "location": {
                        "x": 2140.78564453125,
                        "y": 2527.338623046875,
                        "z": 364.7799072265625
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": -0.29318585991859436,
                        "yaw": 0.3607741594314575
                    }
                },
                "velocity": {
                    "x": 0.16371791064739227,
                    "y": 0.0005750600248575211,
                    "z": -0.0010020732879638672
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004113849136047065,
                "transform": {
                    "location": {
                        "x": 2151.003173828125,
                        "y": 2527.364013671875,
                        "z": 364.7410583496094
                    },
                    "rotation": {
                        "roll": 0.0004967804416082799,
                        "pitch": -0.1853644996881485,
                        "yaw": -0.092620849609375
                    }
                },
                "velocity": {
                    "x": -9.728949407872278e-06,
                    "y": 2.3668830181122757e-05,
                    "z": -0.0004105882253497839
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0024545227643102407,
                "transform": {
                    "location": {
                        "x": 2161.396728515625,
                        "y": 2527.34375,
                        "z": 364.7567138671875
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.39376720786094666,
                        "yaw": -0.1018981859087944
                    }
                },
                "velocity": {
                    "x": -4.588067440636223e-06,
                    "y": 4.334882760304026e-05,
                    "z": -0.0024541355669498444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5065407752990723,
                "transform": {
                    "location": {
                        "x": 2171.9345703125,
                        "y": 2527.32421875,
                        "z": 364.9076232910156
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.941848874092102,
                        "yaw": -0.1456298530101776
                    }
                },
                "velocity": {
                    "x": 2.5060930252075195,
                    "y": -0.006327806506305933,
                    "z": 0.04694436118006706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2745118737220764,
                "transform": {
                    "location": {
                        "x": 2140.122802734375,
                        "y": 2524.48681640625,
                        "z": 364.8227233886719
                    },
                    "rotation": {
                        "roll": 0.0022674959618598223,
                        "pitch": 0.2396918088197708,
                        "yaw": -179.82908630371094
                    }
                },
                "velocity": {
                    "x": -0.274507999420166,
                    "y": 0.0005022601108066738,
                    "z": 0.0013685417361557484
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2061927318573,
                "transform": {
                    "location": {
                        "x": 2128.871826171875,
                        "y": 2524.552978515625,
                        "z": 364.8360900878906
                    },
                    "rotation": {
                        "roll": 0.00455172173678875,
                        "pitch": 0.12248577922582626,
                        "yaw": -179.79632568359375
                    }
                },
                "velocity": {
                    "x": -3.2059528827667236,
                    "y": -0.03744484484195709,
                    "z": 0.011639833450317383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2390614151954651,
        "expert_target_speed": 5.6785451635572155,
        "target_point": [
            24.44648249536444,
            2.851069818050605
        ],
        "target_point_next": [
            24.44648249536444,
            2.851069818050605
        ]
    },
    "595": {
        "acceleration": [
            -1.6474723815917969,
            -0.18306612968444824,
            0.022759735584259033
        ],
        "angular_velocity": [
            0.35982808470726013,
            0.09637698531150818,
            9.110244750976562
        ],
        "forward_vector": [
            -0.9977893233299255,
            0.06495756655931473,
            -0.014033332467079163
        ],
        "right_vector": [
            -0.06501935422420502,
            -0.997875988483429,
            0.003992206417024136
        ],
        "location": [
            2171.5625,
            2524.49365234375,
            364.891357421875
        ],
        "rotation": [
            -0.22875972092151642,
            -0.8040771484375,
            176.2752227783203
        ],
        "velocity": [
            -5.0963544845581055,
            0.0762103945016861,
            -0.08870250731706619
        ],
        "speed": 5.0969242741584475,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.60285758972168,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2139.959716796875,
                2524.486083984375,
                364.8230285644531
            ],
            "velocity": [
                -1.003615140914917,
                -0.0034807787742465734,
                0.0027603148482739925
            ],
            "speed_kmh": 3.6130499024473175,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003810686175711453,
                "transform": {
                    "location": {
                        "x": 2140.785888671875,
                        "y": 2527.338623046875,
                        "z": 364.7795104980469
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.25445184111595154,
                        "yaw": 0.3605756163597107
                    }
                },
                "velocity": {
                    "x": -9.53004855546169e-05,
                    "y": -0.00011116746463812888,
                    "z": -0.00035181373823434114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.25893843173980713,
                "transform": {
                    "location": {
                        "x": 2151.02880859375,
                        "y": 2527.364013671875,
                        "z": 364.740966796875
                    },
                    "rotation": {
                        "roll": 0.0006208589766174555,
                        "pitch": -0.17303600907325745,
                        "yaw": -0.0956420823931694
                    }
                },
                "velocity": {
                    "x": 0.25893068313598633,
                    "y": -4.408423774293624e-05,
                    "z": 0.0020024203695356846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1403520107269287,
                "transform": {
                    "location": {
                        "x": 2161.408935546875,
                        "y": 2527.34375,
                        "z": 364.7568359375
                    },
                    "rotation": {
                        "roll": 0.0001102617388824001,
                        "pitch": 0.404217392206192,
                        "yaw": -0.1165160983800888
                    }
                },
                "velocity": {
                    "x": 0.14034223556518555,
                    "y": -8.959248225437477e-05,
                    "z": 0.0016543101519346237
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4398093223571777,
                "transform": {
                    "location": {
                        "x": 2172.676513671875,
                        "y": 2527.322021484375,
                        "z": 364.92138671875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.9757266044616699,
                        "yaw": -0.144317626953125
                    }
                },
                "velocity": {
                    "x": 3.439182996749878,
                    "y": -0.008613062091171741,
                    "z": 0.0650670975446701
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0036250352859497,
                "transform": {
                    "location": {
                        "x": 2139.959716796875,
                        "y": 2524.486083984375,
                        "z": 364.8230285644531
                    },
                    "rotation": {
                        "roll": 0.0007580970413982868,
                        "pitch": 0.2836577296257019,
                        "yaw": -179.8409423828125
                    }
                },
                "velocity": {
                    "x": -1.003615140914917,
                    "y": -0.0034807787742465734,
                    "z": 0.0027603148482739925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.313369274139404,
                "transform": {
                    "location": {
                        "x": 2127.928955078125,
                        "y": 2524.54345703125,
                        "z": 364.8397521972656
                    },
                    "rotation": {
                        "roll": 0.003844047663733363,
                        "pitch": 0.10872294753789902,
                        "yaw": -179.62380981445312
                    }
                },
                "velocity": {
                    "x": -4.313046932220459,
                    "y": -0.05046399310231209,
                    "z": 0.015332584269344807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1541210561990738,
        "expert_target_speed": 6.109291834245811,
        "target_point": [
            23.34621633893591,
            1.487819359990975
        ],
        "target_point_next": [
            23.34621633893591,
            1.487819359990975
        ]
    },
    "600": {
        "acceleration": [
            -2.7617835998535156,
            0.6019988656044006,
            -0.002018958330154419
        ],
        "angular_velocity": [
            0.7258221507072449,
            0.3504907786846161,
            1.4524203538894653
        ],
        "forward_vector": [
            -0.9990375638008118,
            0.041083041578531265,
            -0.015366902574896812
        ],
        "right_vector": [
            -0.04108814522624016,
            -0.9991555213928223,
            1.6509640772710554e-05
        ],
        "location": [
            2170.300537109375,
            2524.53125,
            364.86920166015625
        ],
        "rotation": [
            -0.0009460445144213736,
            -0.8804932832717896,
            177.64517211914062
        ],
        "velocity": [
            -5.146025657653809,
            0.17783446609973907,
            -0.08824741095304489
        ],
        "speed": 5.149097509910285,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.69733428955078,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2139.603271484375,
                2524.485107421875,
                364.8242492675781
            ],
            "velocity": [
                -1.807486653327942,
                -0.006388559006154537,
                0.006197805050760508
            ],
            "speed_kmh": 6.507030849817924,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013843884516973048,
                "transform": {
                    "location": {
                        "x": 2140.7861328125,
                        "y": 2527.338623046875,
                        "z": 364.77923583984375
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.22534841299057007,
                        "yaw": 0.36056479811668396
                    }
                },
                "velocity": {
                    "x": -4.423409791343147e-06,
                    "y": -1.8102491594618186e-05,
                    "z": 0.00013717888214159757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7501159310340881,
                "transform": {
                    "location": {
                        "x": 2151.160888671875,
                        "y": 2527.36376953125,
                        "z": 364.7406921386719
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.15631569921970367,
                        "yaw": -0.06243894621729851
                    }
                },
                "velocity": {
                    "x": 0.7501115798950195,
                    "y": -0.0013310725335031748,
                    "z": -0.0021807383745908737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6260639429092407,
                "transform": {
                    "location": {
                        "x": 2161.505615234375,
                        "y": 2527.34423828125,
                        "z": 364.7574768066406
                    },
                    "rotation": {
                        "roll": -3.051757266803179e-05,
                        "pitch": 0.42653846740722656,
                        "yaw": -0.158477783203125
                    }
                },
                "velocity": {
                    "x": 0.6260359287261963,
                    "y": -0.0015203129732981324,
                    "z": 0.0057223797775805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2186667919158936,
                "transform": {
                    "location": {
                        "x": 2173.552001953125,
                        "y": 2527.26806640625,
                        "z": 364.9368591308594
                    },
                    "rotation": {
                        "roll": -0.0658569186925888,
                        "pitch": 1.1174734830856323,
                        "yaw": -1.6896971464157104
                    }
                },
                "velocity": {
                    "x": 3.2048232555389404,
                    "y": -0.29184019565582275,
                    "z": 0.06126558035612106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8075085878372192,
                "transform": {
                    "location": {
                        "x": 2139.603271484375,
                        "y": 2524.485107421875,
                        "z": 364.8242492675781
                    },
                    "rotation": {
                        "roll": 0.0011951513588428497,
                        "pitch": 0.2994832992553711,
                        "yaw": -179.8287811279297
                    }
                },
                "velocity": {
                    "x": -1.807486653327942,
                    "y": -0.006388559006154537,
                    "z": 0.006197805050760508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.251561641693115,
                "transform": {
                    "location": {
                        "x": 2126.71875,
                        "y": 2524.53466796875,
                        "z": 364.8447265625
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": 0.12844853103160858,
                        "yaw": -179.61441040039062
                    }
                },
                "velocity": {
                    "x": -5.2514448165893555,
                    "y": -0.024019114673137665,
                    "z": 0.025528984144330025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15808546543121338,
        "expert_target_speed": 6.15537348787282,
        "target_point": [
            22.112672114204805,
            0.9149420550128712
        ],
        "target_point_next": [
            22.112672114204805,
            0.9149420550128712
        ]
    },
    "605": {
        "acceleration": [
            0.42881011962890625,
            -0.3276163339614868,
            0.013228803873062134
        ],
        "angular_velocity": [
            -0.3012111783027649,
            -0.37045204639434814,
            2.5064010620117188
        ],
        "forward_vector": [
            -0.9992223978042603,
            0.03578329458832741,
            -0.01655455119907856
        ],
        "right_vector": [
            -0.03579138591885567,
            -0.9993592500686646,
            0.00019278643594589084
        ],
        "location": [
            2169.013427734375,
            2524.574951171875,
            364.84783935546875
        ],
        "rotation": [
            -0.01104736328125,
            -0.9485492706298828,
            177.9490509033203
        ],
        "velocity": [
            -5.082143306732178,
            0.13584290444850922,
            -0.08569557219743729
        ],
        "speed": 5.083958485752188,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.95302963256836,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2139.060546875,
                2524.483154296875,
                364.8263244628906
            ],
            "velocity": [
                -2.253917694091797,
                -0.008451162837445736,
                0.009195155464112759
            ],
            "speed_kmh": 8.114228259318017,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006653268355876207,
                "transform": {
                    "location": {
                        "x": 2140.7861328125,
                        "y": 2527.338623046875,
                        "z": 364.7792053222656
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -0.22130495309829712,
                        "yaw": 0.36055678129196167
                    }
                },
                "velocity": {
                    "x": 2.324692786714877e-06,
                    "y": 1.0648619763742317e-06,
                    "z": 0.000665321946144104
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3227128982543945,
                "transform": {
                    "location": {
                        "x": 2151.427490234375,
                        "y": 2527.363037109375,
                        "z": 364.7399597167969
                    },
                    "rotation": {
                        "roll": 0.00048457185039296746,
                        "pitch": -0.13824301958084106,
                        "yaw": -0.007232666481286287
                    }
                },
                "velocity": {
                    "x": 1.3227087259292603,
                    "y": -0.0017359561752527952,
                    "z": -0.0028299426194280386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1754305362701416,
                "transform": {
                    "location": {
                        "x": 2161.735595703125,
                        "y": 2527.343994140625,
                        "z": 364.7591857910156
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.4575338661670685,
                        "yaw": -0.1585082709789276
                    }
                },
                "velocity": {
                    "x": 1.1753815412521362,
                    "y": -0.0020358243491500616,
                    "z": 0.010528907179832458
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.140022039413452,
                "transform": {
                    "location": {
                        "x": 2174.31494140625,
                        "y": 2527.20703125,
                        "z": 364.9514465332031
                    },
                    "rotation": {
                        "roll": -0.0585937425494194,
                        "pitch": 1.1493022441864014,
                        "yaw": -2.799133777618408
                    }
                },
                "velocity": {
                    "x": 3.126218795776367,
                    "y": -0.2875122129917145,
                    "z": 0.06189578026533127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2539522647857666,
                "transform": {
                    "location": {
                        "x": 2139.060546875,
                        "y": 2524.483154296875,
                        "z": 364.8263244628906
                    },
                    "rotation": {
                        "roll": 0.000822814938146621,
                        "pitch": 0.282735675573349,
                        "yaw": -179.8156280517578
                    }
                },
                "velocity": {
                    "x": -2.253917694091797,
                    "y": -0.008451162837445736,
                    "z": 0.009195155464112759
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1471147537231445,
                "transform": {
                    "location": {
                        "x": 2125.447265625,
                        "y": 2524.5283203125,
                        "z": 364.8498840332031
                    },
                    "rotation": {
                        "roll": 0.00224404688924551,
                        "pitch": 0.25008735060691833,
                        "yaw": -179.6742706298828
                    }
                },
                "velocity": {
                    "x": -5.14699125289917,
                    "y": -0.02426759898662567,
                    "z": 0.02616477943956852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1937287151813507,
        "expert_target_speed": 6.094425551130064,
        "target_point": [
            20.829364954564618,
            0.7952579036619765
        ],
        "target_point_next": [
            20.829364954564618,
            0.7952579036619765
        ]
    },
    "610": {
        "acceleration": [
            -0.5124568939208984,
            0.26115983724594116,
            0.03557831048965454
        ],
        "angular_velocity": [
            0.2604121267795563,
            0.7903372049331665,
            -0.9023737907409668
        ],
        "forward_vector": [
            -0.9993800520896912,
            0.03155386820435524,
            -0.015618165023624897
        ],
        "right_vector": [
            -0.031547579914331436,
            -0.9995020031929016,
            -0.0006487943464890122
        ],
        "location": [
            2167.74267578125,
            2524.612060546875,
            364.8282470703125
        ],
        "rotation": [
            0.037177715450525284,
            -0.8948913216590881,
            178.1915740966797
        ],
        "velocity": [
            -5.11455774307251,
            0.1725536435842514,
            -0.06790105998516083
        ],
        "speed": 5.1174677006442515,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.890424728393555,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2138.8525390625,
                2524.483154296875,
                364.8287353515625
            ],
            "velocity": [
                -0.695572555065155,
                -0.002904548542574048,
                0.0025365925393998623
            ],
            "speed_kmh": 2.504099680289714,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06925802677869797,
                "transform": {
                    "location": {
                        "x": 2140.790283203125,
                        "y": 2527.338623046875,
                        "z": 364.7791748046875
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.21709755063056946,
                        "yaw": 0.36412400007247925
                    }
                },
                "velocity": {
                    "x": 0.06925788521766663,
                    "y": 0.00010008356184698641,
                    "z": 9.985923679778352e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00034774793311953545,
                "transform": {
                    "location": {
                        "x": 2151.622802734375,
                        "y": 2527.36181640625,
                        "z": 364.739990234375
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.18292611837387085,
                        "yaw": 0.10316893458366394
                    }
                },
                "velocity": {
                    "x": 3.7671085010515526e-05,
                    "y": -4.082996747456491e-05,
                    "z": 0.00034328183392062783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7226598262786865,
                "transform": {
                    "location": {
                        "x": 2162.104248046875,
                        "y": 2527.342529296875,
                        "z": 364.7621154785156
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 0.4996829628944397,
                        "yaw": -0.10424801707267761
                    }
                },
                "velocity": {
                    "x": 1.7225911617279053,
                    "y": -0.003038269467651844,
                    "z": 0.015077895484864712
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.870957851409912,
                "transform": {
                    "location": {
                        "x": 2175.079833984375,
                        "y": 2527.142578125,
                        "z": 364.9666442871094
                    },
                    "rotation": {
                        "roll": -0.0686950534582138,
                        "pitch": 1.1524646282196045,
                        "yaw": -3.5872201919555664
                    }
                },
                "velocity": {
                    "x": 2.8577723503112793,
                    "y": -0.2689276933670044,
                    "z": 0.056698303669691086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6955832242965698,
                "transform": {
                    "location": {
                        "x": 2138.8525390625,
                        "y": 2524.483154296875,
                        "z": 364.8287353515625
                    },
                    "rotation": {
                        "roll": 0.0011639836011454463,
                        "pitch": 0.10924886912107468,
                        "yaw": -179.7141571044922
                    }
                },
                "velocity": {
                    "x": -0.695572555065155,
                    "y": -0.002904548542574048,
                    "z": 0.0025365925393998623
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.9623870849609375,
                "transform": {
                    "location": {
                        "x": 2124.19677734375,
                        "y": 2524.522216796875,
                        "z": 364.85540771484375
                    },
                    "rotation": {
                        "roll": 0.0005176591803319752,
                        "pitch": 0.29888224601745605,
                        "yaw": -179.70497131347656
                    }
                },
                "velocity": {
                    "x": -4.962268352508545,
                    "y": -0.02219071425497532,
                    "z": 0.026209048926830292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20799413323402405,
        "expert_target_speed": 6.1106114980784385,
        "target_point": [
            19.561254119743147,
            0.7040817720752707
        ],
        "target_point_next": [
            19.561254119743147,
            0.7040817720752707
        ]
    },
    "615": {
        "acceleration": [
            -9.131393432617188,
            0.1716098189353943,
            -0.12822553515434265
        ],
        "angular_velocity": [
            -0.13505153357982635,
            3.514209508895874,
            1.7783331871032715
        ],
        "forward_vector": [
            -0.9994025826454163,
            0.03320780396461487,
            -0.009577484801411629
        ],
        "right_vector": [
            -0.03320477157831192,
            -0.9994484782218933,
            -0.00047551075113005936
        ],
        "location": [
            2166.41455078125,
            2524.65771484375,
            364.8094482421875
        ],
        "rotation": [
            0.027246009558439255,
            -0.5487578511238098,
            178.09689331054688
        ],
        "velocity": [
            -5.959036827087402,
            0.19525405764579773,
            -0.07925322651863098
        ],
        "speed": 5.962234820401746,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.866769790649414,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2138.54833984375,
                2524.482177734375,
                364.8285217285156
            ],
            "velocity": [
                -1.5981075763702393,
                -0.006126953288912773,
                0.006481351796537638
            ],
            "speed_kmh": 5.753276871119675,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5210843086242676,
                "transform": {
                    "location": {
                        "x": 2140.8505859375,
                        "y": 2527.339111328125,
                        "z": 364.77886962890625
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": -0.20681129395961761,
                        "yaw": 0.35074853897094727
                    }
                },
                "velocity": {
                    "x": 0.5210659503936768,
                    "y": 0.0031498984899371862,
                    "z": -0.003027629805728793
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00038184624281711876,
                "transform": {
                    "location": {
                        "x": 2151.622802734375,
                        "y": 2527.36181640625,
                        "z": 364.73974609375
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.1560629904270172,
                        "yaw": 0.1031610518693924
                    }
                },
                "velocity": {
                    "x": -4.0995979361468926e-05,
                    "y": 2.118547672580462e-05,
                    "z": 0.00037904756027273834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.245210886001587,
                "transform": {
                    "location": {
                        "x": 2162.60400390625,
                        "y": 2527.3427734375,
                        "z": 364.7659606933594
                    },
                    "rotation": {
                        "roll": 0.0009578255121596158,
                        "pitch": 0.5574321746826172,
                        "yaw": -0.2378539890050888
                    }
                },
                "velocity": {
                    "x": 2.245123863220215,
                    "y": -0.0050618331879377365,
                    "z": 0.019108638167381287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9091739654541016,
                "transform": {
                    "location": {
                        "x": 2175.792724609375,
                        "y": 2527.079833984375,
                        "z": 364.98101806640625
                    },
                    "rotation": {
                        "roll": -0.0805358812212944,
                        "pitch": 1.1329302787780762,
                        "yaw": -4.112153053283691
                    }
                },
                "velocity": {
                    "x": 2.8957631587982178,
                    "y": -0.27321305871009827,
                    "z": 0.05660199001431465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5981324911117554,
                "transform": {
                    "location": {
                        "x": 2138.54833984375,
                        "y": 2524.482177734375,
                        "z": 364.8285217285156
                    },
                    "rotation": {
                        "roll": 0.0018374944338575006,
                        "pitch": 0.2692938446998596,
                        "yaw": -179.67703247070312
                    }
                },
                "velocity": {
                    "x": -1.5981075763702393,
                    "y": -0.006126953288912773,
                    "z": 0.006481351796537638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0490312576293945,
                "transform": {
                    "location": {
                        "x": 2122.944580078125,
                        "y": 2524.516357421875,
                        "z": 364.8619689941406
                    },
                    "rotation": {
                        "roll": 0.0008670956012792885,
                        "pitch": 0.2929604649543762,
                        "yaw": -179.69017028808594
                    }
                },
                "velocity": {
                    "x": -5.048892498016357,
                    "y": -0.024724852293729782,
                    "z": 0.028097571805119514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25593996047973633,
        "expert_target_speed": 6.8543704367924985,
        "target_point": [
            18.23115552929412,
            0.7379242068166212
        ],
        "target_point_next": [
            18.23115552929412,
            0.7379242068166212
        ]
    },
    "620": {
        "acceleration": [
            -2.0679187774658203,
            0.19570380449295044,
            0.038029253482818604
        ],
        "angular_velocity": [
            0.2304084151983261,
            -0.38816216588020325,
            -3.3468124866485596
        ],
        "forward_vector": [
            -0.9994539618492126,
            0.032705940306186676,
            -0.004700881894677877
        ],
        "right_vector": [
            -0.032704051584005356,
            -0.9994649291038513,
            -0.0004777581780217588
        ],
        "location": [
            2164.800537109375,
            2524.710205078125,
            364.7882385253906
        ],
        "rotation": [
            0.02737383171916008,
            -0.26934167742729187,
            178.125732421875
        ],
        "velocity": [
            -6.717471599578857,
            0.22748343646526337,
            -0.07271706312894821
        ],
        "speed": 6.721322295874122,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.769086837768555,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2138.032470703125,
                2524.480224609375,
                364.83001708984375
            ],
            "velocity": [
                -2.5687522888183594,
                -0.009735996834933758,
                0.00977342575788498
            ],
            "speed_kmh": 9.247641594217571,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.004364212974905968,
                "transform": {
                    "location": {
                        "x": 2141.015625,
                        "y": 2527.33984375,
                        "z": 364.7783203125
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.21768495440483093,
                        "yaw": 0.35817649960517883
                    }
                },
                "velocity": {
                    "x": 0.004072770942002535,
                    "y": -0.0005014409543946385,
                    "z": 0.0014857491478323936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2831982970237732,
                "transform": {
                    "location": {
                        "x": 2151.648681640625,
                        "y": 2527.36181640625,
                        "z": 364.73956298828125
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.13708871603012085,
                        "yaw": 0.0922250896692276
                    }
                },
                "velocity": {
                    "x": 0.2831951975822449,
                    "y": -0.00033729657297953963,
                    "z": -0.0012817191891372204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7977051734924316,
                "transform": {
                    "location": {
                        "x": 2163.23779296875,
                        "y": 2527.342041015625,
                        "z": 364.7708435058594
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": 0.6294906735420227,
                        "yaw": -0.3345641493797302
                    }
                },
                "velocity": {
                    "x": 2.797593832015991,
                    "y": -0.006913559511303902,
                    "z": 0.023972511291503906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.631298780441284,
                "transform": {
                    "location": {
                        "x": 2176.470947265625,
                        "y": 2527.010498046875,
                        "z": 364.9942932128906
                    },
                    "rotation": {
                        "roll": -0.1306457668542862,
                        "pitch": 1.1554903984069824,
                        "yaw": -4.774477958679199
                    }
                },
                "velocity": {
                    "x": 2.6021339893341064,
                    "y": -0.38714757561683655,
                    "z": 0.05242444947361946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.56878924369812,
                "transform": {
                    "location": {
                        "x": 2138.032470703125,
                        "y": 2524.480224609375,
                        "z": 364.83001708984375
                    },
                    "rotation": {
                        "roll": 0.0029310467652976513,
                        "pitch": 0.3136969208717346,
                        "yaw": -179.6937713623047
                    }
                },
                "velocity": {
                    "x": -2.5687522888183594,
                    "y": -0.009735996834933758,
                    "z": 0.00977342575788498
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.178690433502197,
                "transform": {
                    "location": {
                        "x": 2121.6708984375,
                        "y": 2524.51220703125,
                        "z": 364.8695373535156
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": 0.3151722252368927,
                        "yaw": -179.7542266845703
                    }
                },
                "velocity": {
                    "x": -5.17855167388916,
                    "y": -0.006048130337148905,
                    "z": 0.03742128238081932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28470805287361145,
        "expert_target_speed": 7.471155069751707,
        "target_point": [
            16.61665749946428,
            0.7284266906378853
        ],
        "target_point_next": [
            16.61665749946428,
            0.7284266906378853
        ]
    },
    "625": {
        "acceleration": [
            -2.4174880981445312,
            -0.1089438796043396,
            0.21417781710624695
        ],
        "angular_velocity": [
            -0.26386263966560364,
            0.5521091222763062,
            3.0695414543151855
        ],
        "forward_vector": [
            -0.9994158148765564,
            0.03372517228126526,
            -0.005537719465792179
        ],
        "right_vector": [
            -0.03372426703572273,
            -0.9994311332702637,
            -0.000256640138104558
        ],
        "location": [
            2163.05078125,
            2524.770263671875,
            364.7703857421875
        ],
        "rotation": [
            0.014704622328281403,
            -0.3172895908355713,
            178.06729125976562
        ],
        "velocity": [
            -7.281299114227295,
            0.24077409505844116,
            -0.06185433268547058
        ],
        "speed": 7.2852789209266655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.841089248657227,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2137.21142578125,
                2524.4775390625,
                364.8327941894531
            ],
            "velocity": [
                -3.9602601528167725,
                -0.003311630804091692,
                0.014616460539400578
            ],
            "speed_kmh": 14.257038637530611,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016895185690373182,
                "transform": {
                    "location": {
                        "x": 2141.015380859375,
                        "y": 2527.33984375,
                        "z": 364.7784729003906
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": -0.23071694374084473,
                        "yaw": 0.3581623435020447
                    }
                },
                "velocity": {
                    "x": -1.775611235643737e-05,
                    "y": 3.5610988561529666e-05,
                    "z": 0.001689049880951643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8075962066650391,
                "transform": {
                    "location": {
                        "x": 2151.7861328125,
                        "y": 2527.361572265625,
                        "z": 364.7390441894531
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.11812811344861984,
                        "yaw": 0.13026343286037445
                    }
                },
                "velocity": {
                    "x": 0.8075941801071167,
                    "y": 0.00020859565120190382,
                    "z": -0.0017930506728589535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.327080726623535,
                "transform": {
                    "location": {
                        "x": 2164.004150390625,
                        "y": 2527.33984375,
                        "z": 364.7783508300781
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.6611349582672119,
                        "yaw": -0.3134765625
                    }
                },
                "velocity": {
                    "x": 3.326857805252075,
                    "y": -0.008252224884927273,
                    "z": 0.03761832043528557
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3061892986297607,
                "transform": {
                    "location": {
                        "x": 2177.193359375,
                        "y": 2526.91259765625,
                        "z": 365.0092468261719
                    },
                    "rotation": {
                        "roll": -0.1333007514476776,
                        "pitch": 1.079695701599121,
                        "yaw": -5.863498687744141
                    }
                },
                "velocity": {
                    "x": 3.269700288772583,
                    "y": -0.48550936579704285,
                    "z": 0.0650261640548706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9602885246276855,
                "transform": {
                    "location": {
                        "x": 2137.21142578125,
                        "y": 2524.4775390625,
                        "z": 364.8327941894531
                    },
                    "rotation": {
                        "roll": 0.005564216058701277,
                        "pitch": 0.35767650604248047,
                        "yaw": -179.75546264648438
                    }
                },
                "velocity": {
                    "x": -3.9602601528167725,
                    "y": -0.003311630804091692,
                    "z": 0.014616460539400578
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.604161262512207,
                "transform": {
                    "location": {
                        "x": 2120.303955078125,
                        "y": 2524.510009765625,
                        "z": 364.8790283203125
                    },
                    "rotation": {
                        "roll": 0.000312008080072701,
                        "pitch": 0.3665079176425934,
                        "yaw": -179.86361694335938
                    }
                },
                "velocity": {
                    "x": -5.60400915145874,
                    "y": -0.004897395148873329,
                    "z": 0.04100598394870758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31439390778541565,
        "expert_target_speed": 7.928827359389308,
        "target_point": [
            14.865119906111705,
            0.746387532962034
        ],
        "target_point_next": [
            14.865119906111705,
            0.746387532962034
        ]
    },
    "630": {
        "acceleration": [
            -2.9575347900390625,
            -0.07708072662353516,
            -0.00942237675189972
        ],
        "angular_velocity": [
            0.04216953366994858,
            1.1488240957260132,
            -1.3587623834609985
        ],
        "forward_vector": [
            -0.9995440244674683,
            0.030171949416399002,
            -0.0011856553610414267
        ],
        "right_vector": [
            -0.03017251379787922,
            -0.999544620513916,
            0.0004612591292243451
        ],
        "location": [
            2161.139892578125,
            2524.82763671875,
            364.7553405761719
        ],
        "rotation": [
            -0.02642822079360485,
            -0.06793306022882462,
            178.27101135253906
        ],
        "velocity": [
            -7.979732513427734,
            0.21950142085552216,
            -0.05708763375878334
        ],
        "speed": 7.9827508955004545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.09000587463379,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2136.052490234375,
                2524.4755859375,
                364.83734130859375
            ],
            "velocity": [
                -5.2573418617248535,
                -0.004028052091598511,
                0.02382536791265011
            ],
            "speed_kmh": 18.92663060674775,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.40899860858917236,
                "transform": {
                    "location": {
                        "x": 2141.057373046875,
                        "y": 2527.33984375,
                        "z": 364.7781677246094
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.2100556194782257,
                        "yaw": 0.38382211327552795
                    }
                },
                "velocity": {
                    "x": 0.4089823067188263,
                    "y": 0.002939248224720359,
                    "z": -0.0021645354572683573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4068326950073242,
                "transform": {
                    "location": {
                        "x": 2152.06640625,
                        "y": 2527.361572265625,
                        "z": 364.73828125
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.10006909817457199,
                        "yaw": 0.13109391927719116
                    }
                },
                "velocity": {
                    "x": 1.4068306684494019,
                    "y": -0.0009989271638914943,
                    "z": -0.0021572590339928865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.060863971710205,
                "transform": {
                    "location": {
                        "x": 2164.925537109375,
                        "y": 2527.337158203125,
                        "z": 364.7886657714844
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.655445396900177,
                        "yaw": -0.24078373610973358
                    }
                },
                "velocity": {
                    "x": 4.060606479644775,
                    "y": -0.00929249357432127,
                    "z": 0.044784896075725555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.392116546630859,
                "transform": {
                    "location": {
                        "x": 2178.141845703125,
                        "y": 2526.737060546875,
                        "z": 365.02850341796875
                    },
                    "rotation": {
                        "roll": -0.204071044921875,
                        "pitch": 1.0230803489685059,
                        "yaw": -8.051033973693848
                    }
                },
                "velocity": {
                    "x": 4.296533107757568,
                    "y": -0.9072971343994141,
                    "z": 0.08546050637960434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.257397651672363,
                "transform": {
                    "location": {
                        "x": 2136.052490234375,
                        "y": 2524.4755859375,
                        "z": 364.83734130859375
                    },
                    "rotation": {
                        "roll": 0.003819666802883148,
                        "pitch": 0.3625737428665161,
                        "yaw": -179.85060119628906
                    }
                },
                "velocity": {
                    "x": -5.2573418617248535,
                    "y": -0.004028052091598511,
                    "z": 0.02382536791265011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.488924026489258,
                "transform": {
                    "location": {
                        "x": 2118.638427734375,
                        "y": 2524.508544921875,
                        "z": 364.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0018568712985143065,
                        "pitch": 0.31361493468284607,
                        "yaw": -179.88473510742188
                    }
                },
                "velocity": {
                    "x": -7.488687038421631,
                    "y": -0.006315659265965223,
                    "z": 0.05927237495779991
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3314005732536316,
        "expert_target_speed": 8.468537093196545,
        "target_point": [
            12.95593016751336,
            0.6932183219111152
        ],
        "target_point_next": [
            12.95593016751336,
            0.6932183219111152
        ]
    },
    "635": {
        "acceleration": [
            -3.171253204345703,
            -0.5367416143417358,
            0.007728561758995056
        ],
        "angular_velocity": [
            -0.4906942546367645,
            0.044858917593955994,
            5.074686050415039
        ],
        "forward_vector": [
            -0.999747633934021,
            0.022434396669268608,
            0.0011397597845643759
        ],
        "right_vector": [
            -0.022432638332247734,
            -0.9997471570968628,
            0.0015329138841480017
        ],
        "location": [
            2159.045166015625,
            2524.877685546875,
            364.7427673339844
        ],
        "rotation": [
            -0.08782958984375,
            0.06530343741178513,
            178.71449279785156
        ],
        "velocity": [
            -8.746553421020508,
            0.14983288943767548,
            -0.04029485583305359
        ],
        "speed": 8.74783668351912,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.335111618041992,
        "front_vehicle_info": {
            "id": 5077,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2134.713623046875,
                2524.47314453125,
                364.84320068359375
            ],
            "velocity": [
                -5.511172771453857,
                -0.002342940540984273,
                0.020422067493200302
            ],
            "speed_kmh": 19.840359985560998,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5104,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.681204319000244,
                "transform": {
                    "location": {
                        "x": 2174.909912109375,
                        "y": 2524.466552734375,
                        "z": 365.1545104980469
                    },
                    "rotation": {
                        "roll": -1.0424093532801493e-10,
                        "pitch": -1.1368712186813354,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -5.292598724365234,
                    "y": 0.011635108850896358,
                    "z": -2.065030097961426
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5101,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8499476313591003,
                "transform": {
                    "location": {
                        "x": 2141.213623046875,
                        "y": 2527.340576171875,
                        "z": 364.77740478515625
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.20108075439929962,
                        "yaw": 0.40279385447502136
                    }
                },
                "velocity": {
                    "x": 0.849932849407196,
                    "y": 0.004652429837733507,
                    "z": -0.0018770790193229914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9120540618896484,
                "transform": {
                    "location": {
                        "x": 2152.486572265625,
                        "y": 2527.361572265625,
                        "z": 364.73724365234375
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.07702404260635376,
                        "yaw": 0.12403509765863419
                    }
                },
                "velocity": {
                    "x": 1.9120515584945679,
                    "y": -0.0017708305967971683,
                    "z": -0.002472953638061881
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5094,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.883637428283691,
                "transform": {
                    "location": {
                        "x": 2166.0556640625,
                        "y": 2527.333984375,
                        "z": 364.80206298828125
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.7017199397087097,
                        "yaw": -0.1803588569164276
                    }
                },
                "velocity": {
                    "x": 4.883101463317871,
                    "y": -0.010207748040556908,
                    "z": 0.07160218805074692
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5090,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.227566242218018,
                "transform": {
                    "location": {
                        "x": 2179.329833984375,
                        "y": 2526.4365234375,
                        "z": 365.0523986816406
                    },
                    "rotation": {
                        "roll": -0.34194937348365784,
                        "pitch": 1.0154441595077515,
                        "yaw": -11.685836791992188
                    }
                },
                "velocity": {
                    "x": 4.961892604827881,
                    "y": -1.6422861814498901,
                    "z": 0.0998421460390091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5077,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.511211395263672,
                "transform": {
                    "location": {
                        "x": 2134.713623046875,
                        "y": 2524.47314453125,
                        "z": 364.84320068359375
                    },
                    "rotation": {
                        "roll": 0.00228017452172935,
                        "pitch": 0.2826400399208069,
                        "yaw": 179.9799346923828
                    }
                },
                "velocity": {
                    "x": -5.511172771453857,
                    "y": -0.002342940540984273,
                    "z": 0.020422067493200302
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5076,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.208234786987305,
                "transform": {
                    "location": {
                        "x": 2116.652587890625,
                        "y": 2524.5068359375,
                        "z": 364.9080810546875
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": 0.3935759663581848,
                        "yaw": -179.9534149169922
                    }
                },
                "velocity": {
                    "x": -8.207831382751465,
                    "y": 0.004278435837477446,
                    "z": 0.0812896341085434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31525930762290955,
        "expert_target_speed": 9.004504448822212,
        "target_point": [
            10.865585387883149,
            0.5959620074164741
        ],
        "target_point_next": [
            10.865585387883149,
            0.5959620074164741
        ]
    }
}