{
    "0": {
        "acceleration": [
            -1.388193964958191,
            0.29340147972106934,
            -0.623413622379303
        ],
        "angular_velocity": [
            0.16278941929340363,
            0.05658181756734848,
            0.014171826653182507
        ],
        "forward_vector": [
            -0.9767554998397827,
            0.20620295405387878,
            -0.05855867639183998
        ],
        "right_vector": [
            -0.20658539235591888,
            -0.9784284830093384,
            0.00048811634769663215
        ],
        "location": [
            -997.7260131835938,
            3045.57958984375,
            360.11627197265625
        ],
        "rotation": [
            -0.028015082702040672,
            -3.357085704803467,
            168.07931518554688
        ],
        "velocity": [
            -0.3305833637714386,
            0.06875918060541153,
            0.19291411340236664
        ],
        "speed": 0.33765838553183736,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.022270718589425087,
        "expert_target_speed": 20.0,
        "target_point": [
            51.01628949780459,
            -0.6590699326244209
        ],
        "target_point_next": [
            72.94076837896542,
            -2.440317901326665
        ]
    },
    "5": {
        "acceleration": [
            0.35042881965637207,
            -0.06789401173591614,
            -0.3897433876991272
        ],
        "angular_velocity": [
            -0.003010715823620558,
            -0.2273690551519394,
            -0.04706395044922829
        ],
        "forward_vector": [
            -0.9766983389854431,
            0.20637698471546173,
            -0.05889688432216644
        ],
        "right_vector": [
            -0.20674394071102142,
            -0.9783950448036194,
            0.00013983807002659887
        ],
        "location": [
            -997.819580078125,
            3045.599609375,
            360.1446533203125
        ],
        "rotation": [
            -0.0080260643735528,
            -3.3764970302581787,
            168.06886291503906
        ],
        "velocity": [
            -0.416353702545166,
            0.08923082798719406,
            0.05102132633328438
        ],
        "speed": 0.42580810970007227,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.802520751953125,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3161010742188,
                3048.47998046875,
                359.3267517089844
            ],
            "velocity": [
                0.013203028589487076,
                -0.0026163964066654444,
                -0.23042134940624237
            ],
            "speed_kmh": 0.8309308769575583,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4397513270378113,
                "transform": {
                    "location": {
                        "x": -968.6410522460938,
                        "y": 3038.349853515625,
                        "z": 361.9382629394531
                    },
                    "rotation": {
                        "roll": 0.004308533389121294,
                        "pitch": -3.1090404987335205,
                        "yaw": 163.95802307128906
                    }
                },
                "velocity": {
                    "x": 0.021594960242509842,
                    "y": -0.004811409395188093,
                    "z": -0.4391944110393524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35634857416152954,
                "transform": {
                    "location": {
                        "x": -983.0678100585938,
                        "y": 3042.216552734375,
                        "z": 361.0589294433594
                    },
                    "rotation": {
                        "roll": -0.0039062388241291046,
                        "pitch": -3.411283254623413,
                        "yaw": 166.03466796875
                    }
                },
                "velocity": {
                    "x": 0.019985834136605263,
                    "y": -0.004874074831604958,
                    "z": -0.3557542860507965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.230814129114151,
                "transform": {
                    "location": {
                        "x": -1012.3161010742188,
                        "y": 3048.47998046875,
                        "z": 359.3267517089844
                    },
                    "rotation": {
                        "roll": -0.006439239252358675,
                        "pitch": -3.376401424407959,
                        "yaw": 168.8202667236328
                    }
                },
                "velocity": {
                    "x": 0.013203028589487076,
                    "y": -0.0026163964066654444,
                    "z": -0.23042134940624237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5130372047424316,
                "transform": {
                    "location": {
                        "x": -1027.0360107421875,
                        "y": 3051.619384765625,
                        "z": 358.3910217285156
                    },
                    "rotation": {
                        "roll": -0.0026245280168950558,
                        "pitch": -3.3595309257507324,
                        "yaw": 167.10101318359375
                    }
                },
                "velocity": {
                    "x": 0.0294185783714056,
                    "y": -0.006416734773665667,
                    "z": -0.5121528506278992
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02285032719373703,
        "expert_target_speed": 1.4065284125509536,
        "target_point": [
            50.920724707630896,
            -0.6495094350653208
        ],
        "target_point_next": [
            72.845528530043,
            -2.4267533365082183
        ]
    },
    "10": {
        "acceleration": [
            -1.4377927780151367,
            0.31416088342666626,
            -0.23829308152198792
        ],
        "angular_velocity": [
            0.02401215210556984,
            0.16407479345798492,
            -0.07507990300655365
        ],
        "forward_vector": [
            -0.9766398072242737,
            0.20663607120513916,
            -0.058959122747182846
        ],
        "right_vector": [
            -0.20699504017829895,
            -0.9783419966697693,
            -1.9664874344016425e-05
        ],
        "location": [
            -997.9467163085938,
            3045.626708984375,
            360.1474914550781
        ],
        "rotation": [
            0.0011286778608337045,
            -3.3800692558288574,
            168.05361938476562
        ],
        "velocity": [
            -0.5948095321655273,
            0.12780271470546722,
            -0.0171689223498106
        ],
        "speed": 0.6083846755475195,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.67290210723877,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3157348632812,
                3048.47998046875,
                359.3203125
            ],
            "velocity": [
                -0.0014674824196845293,
                0.0004755009722430259,
                0.023582300171256065
            ],
            "speed_kmh": 0.08507771831703696,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02762584015727043,
                "transform": {
                    "location": {
                        "x": -968.6396484375,
                        "y": 3038.349609375,
                        "z": 361.9138488769531
                    },
                    "rotation": {
                        "roll": 0.003582317614927888,
                        "pitch": -3.1326591968536377,
                        "yaw": 163.9575958251953
                    }
                },
                "velocity": {
                    "x": -0.0015642517246305943,
                    "y": 0.0005577566917054355,
                    "z": 0.02757587842643261
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04396878555417061,
                "transform": {
                    "location": {
                        "x": -983.0673828125,
                        "y": 3042.216552734375,
                        "z": 361.0513610839844
                    },
                    "rotation": {
                        "roll": -0.003509487258270383,
                        "pitch": -3.4173824787139893,
                        "yaw": 166.03453063964844
                    }
                },
                "velocity": {
                    "x": -0.002611723495647311,
                    "y": 0.0007448902470059693,
                    "z": 0.04388482868671417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.023632699623703957,
                "transform": {
                    "location": {
                        "x": -1012.3157348632812,
                        "y": 3048.47998046875,
                        "z": 359.3203125
                    },
                    "rotation": {
                        "roll": -0.005920439958572388,
                        "pitch": -3.3800008296966553,
                        "yaw": 168.8200225830078
                    }
                },
                "velocity": {
                    "x": -0.0014674824196845293,
                    "y": 0.0004755009722430259,
                    "z": 0.023582300171256065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10419902205467224,
                "transform": {
                    "location": {
                        "x": -1027.035400390625,
                        "y": 3051.618896484375,
                        "z": 358.38238525390625
                    },
                    "rotation": {
                        "roll": -0.002258309395983815,
                        "pitch": -3.36492657661438,
                        "yaw": 167.10076904296875
                    }
                },
                "velocity": {
                    "x": -0.006063608452677727,
                    "y": 0.0015168392565101385,
                    "z": 0.10401138663291931
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02453264780342579,
        "expert_target_speed": 1.5731818504280943,
        "target_point": [
            50.79090322243119,
            -0.6357888746852165
        ],
        "target_point_next": [
            72.7161783044768,
            -2.4072095229511046
        ]
    },
    "15": {
        "acceleration": [
            0.3655886650085449,
            -0.0743788480758667,
            -0.006039813160896301
        ],
        "angular_velocity": [
            -0.007932893931865692,
            -0.18182791769504547,
            -0.08329744637012482
        ],
        "forward_vector": [
            -0.9765655994415283,
            0.2069733738899231,
            -0.059005770832300186
        ],
        "right_vector": [
            -0.20732912421226501,
            -0.9782713055610657,
            -9.506381320534274e-05
        ],
        "location": [
            -998.1072387695312,
            3045.6611328125,
            360.140380859375
        ],
        "rotation": [
            0.005456262268126011,
            -3.382746696472168,
            168.03379821777344
        ],
        "velocity": [
            -0.685666561126709,
            0.14761140942573547,
            -0.03657607361674309
        ],
        "speed": 0.7013756206484362,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.579742431640625,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3856811523438,
                3048.4931640625,
                359.3190612792969
            ],
            "velocity": [
                -0.9836270809173584,
                0.1794855296611786,
                -0.05211566761136055
            ],
            "speed_kmh": 3.604413293307396,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.000864028930664,
                "transform": {
                    "location": {
                        "x": -968.7102661132812,
                        "y": 3038.3681640625,
                        "z": 361.9151611328125
                    },
                    "rotation": {
                        "roll": -0.02108767442405224,
                        "pitch": -2.9154045581817627,
                        "yaw": 164.0033721923828
                    }
                },
                "velocity": {
                    "x": -0.9676339626312256,
                    "y": 0.2543833255767822,
                    "z": -0.026503361761569977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3284046649932861,
                "transform": {
                    "location": {
                        "x": -983.189208984375,
                        "y": 3042.24462890625,
                        "z": 361.0506286621094
                    },
                    "rotation": {
                        "roll": -0.021545397117733955,
                        "pitch": -3.199526786804199,
                        "yaw": 166.1287078857422
                    }
                },
                "velocity": {
                    "x": -1.2925167083740234,
                    "y": 0.2995735704898834,
                    "z": -0.0656902864575386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0012259483337402,
                "transform": {
                    "location": {
                        "x": -1012.3856811523438,
                        "y": 3048.4931640625,
                        "z": 359.3190612792969
                    },
                    "rotation": {
                        "roll": -0.01129151601344347,
                        "pitch": -3.2993431091308594,
                        "yaw": 168.85061645507812
                    }
                },
                "velocity": {
                    "x": -0.9836270809173584,
                    "y": 0.1794855296611786,
                    "z": -0.05211566761136055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023359471932053566,
                "transform": {
                    "location": {
                        "x": -1027.0362548828125,
                        "y": 3051.619384765625,
                        "z": 358.39788818359375
                    },
                    "rotation": {
                        "roll": -0.0016479631885886192,
                        "pitch": -3.369140863418579,
                        "yaw": 167.1005096435547
                    }
                },
                "velocity": {
                    "x": -0.001423813053406775,
                    "y": 0.00038804745418019593,
                    "z": 0.023312808945775032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024634454399347305,
        "expert_target_speed": 1.664550343659657,
        "target_point": [
            50.62694900107897,
            -0.6177876661095372
        ],
        "target_point_next": [
            72.55283684746247,
            -2.3816075787663102
        ]
    },
    "20": {
        "acceleration": [
            -1.4527153968811035,
            0.31244248151779175,
            -0.09556151926517487
        ],
        "angular_velocity": [
            0.05019538849592209,
            0.169739231467247,
            -0.10839147120714188
        ],
        "forward_vector": [
            -0.9764788746833801,
            0.2073870748281479,
            -0.058987684547901154
        ],
        "right_vector": [
            -0.20774005353450775,
            -0.9781840443611145,
            -0.0001518726348876953
        ],
        "location": [
            -998.3023071289062,
            3045.703369140625,
            360.1291809082031
        ],
        "rotation": [
            0.008716839365661144,
            -3.3817083835601807,
            168.00953674316406
        ],
        "velocity": [
            -0.8675960898399353,
            0.18719583749771118,
            -0.051743630319833755
        ],
        "speed": 0.8875614100906002,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.760129928588867,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.7581787109375,
                3048.56640625,
                359.29718017578125
            ],
            "velocity": [
                -1.9698246717453003,
                0.38993605971336365,
                -0.1178382858633995
            ],
            "speed_kmh": 7.241411614931614,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9676584005355835,
                "transform": {
                    "location": {
                        "x": -969.074951171875,
                        "y": 3038.466552734375,
                        "z": 361.898193359375
                    },
                    "rotation": {
                        "roll": -0.03442376106977463,
                        "pitch": -2.7697713375091553,
                        "yaw": 164.21351623535156
                    }
                },
                "velocity": {
                    "x": -1.8986715078353882,
                    "y": 0.5068396925926208,
                    "z": -0.09919562935829163
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7718446254730225,
                "transform": {
                    "location": {
                        "x": -983.6898803710938,
                        "y": 3042.3603515625,
                        "z": 361.0215148925781
                    },
                    "rotation": {
                        "roll": -0.033721908926963806,
                        "pitch": -3.12990665435791,
                        "yaw": 166.3947296142578
                    }
                },
                "velocity": {
                    "x": -2.6964733600616455,
                    "y": 0.621215283870697,
                    "z": -0.16200408339500427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.011503219604492,
                "transform": {
                    "location": {
                        "x": -1012.7581787109375,
                        "y": 3048.56640625,
                        "z": 359.29718017578125
                    },
                    "rotation": {
                        "roll": -0.005615221336483955,
                        "pitch": -3.267821788787842,
                        "yaw": 168.83145141601562
                    }
                },
                "velocity": {
                    "x": -1.9698246717453003,
                    "y": 0.38993605971336365,
                    "z": -0.1178382858633995
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1585094928741455,
                "transform": {
                    "location": {
                        "x": -1027.1600341796875,
                        "y": 3051.646728515625,
                        "z": 358.3916320800781
                    },
                    "rotation": {
                        "roll": -0.004058836493641138,
                        "pitch": -3.336608648300171,
                        "yaw": 167.13229370117188
                    }
                },
                "velocity": {
                    "x": -1.1274813413619995,
                    "y": 0.25724005699157715,
                    "z": -0.06897571682929993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02708735316991806,
        "expert_target_speed": 1.8598331224770477,
        "target_point": [
            50.42761910794053,
            -0.5955609377479014
        ],
        "target_point_next": [
            72.35425184543882,
            -2.3500965832508616
        ]
    },
    "25": {
        "acceleration": [
            0.36615729331970215,
            -0.07608413696289062,
            0.007966682314872742
        ],
        "angular_velocity": [
            -0.04987966641783714,
            -0.18308000266551971,
            -0.11737649887800217
        ],
        "forward_vector": [
            -0.9763748645782471,
            0.20787300169467926,
            -0.05899934470653534
        ],
        "right_vector": [
            -0.2082214206457138,
            -0.9780816435813904,
            -0.00024760604719631374
        ],
        "location": [
            -998.5311279296875,
            3045.752685546875,
            360.1154479980469
        ],
        "rotation": [
            0.01421153824776411,
            -3.382377862930298,
            167.98101806640625
        ],
        "velocity": [
            -0.9587106704711914,
            0.2073337286710739,
            -0.05764263495802879
        ],
        "speed": 0.9808738067253971,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.187813758850098,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1013.4066162109375,
                3048.694580078125,
                359.25823974609375
            ],
            "velocity": [
                -3.2366859912872314,
                0.6409578323364258,
                -0.1930871158838272
            ],
            "speed_kmh": 11.898664855865125,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2837815284729004,
                "transform": {
                    "location": {
                        "x": -969.7068481445312,
                        "y": 3038.635986328125,
                        "z": 361.8629455566406
                    },
                    "rotation": {
                        "roll": -0.048767074942588806,
                        "pitch": -2.702514410018921,
                        "yaw": 164.5149688720703
                    }
                },
                "velocity": {
                    "x": -3.16880202293396,
                    "y": 0.8422091603279114,
                    "z": -0.1805504411458969
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.471743106842041,
                "transform": {
                    "location": {
                        "x": -984.5855102539062,
                        "y": 3042.565673828125,
                        "z": 360.9673767089844
                    },
                    "rotation": {
                        "roll": -0.0399169847369194,
                        "pitch": -3.079097032546997,
                        "yaw": 166.7392578125
                    }
                },
                "velocity": {
                    "x": -4.351978302001953,
                    "y": 0.9937045574188232,
                    "z": -0.26328954100608826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3051846027374268,
                "transform": {
                    "location": {
                        "x": -1013.4066162109375,
                        "y": 3048.694580078125,
                        "z": 359.25823974609375
                    },
                    "rotation": {
                        "roll": -0.007568352855741978,
                        "pitch": -3.248711109161377,
                        "yaw": 168.82518005371094
                    }
                },
                "velocity": {
                    "x": -3.2366859912872314,
                    "y": 0.6409578323364258,
                    "z": -0.1930871158838272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.91773521900177,
                "transform": {
                    "location": {
                        "x": -1027.5474853515625,
                        "y": 3051.735595703125,
                        "z": 358.3679504394531
                    },
                    "rotation": {
                        "roll": -0.004974390845745802,
                        "pitch": -3.3388352394104004,
                        "yaw": 167.12071228027344
                    }
                },
                "velocity": {
                    "x": -1.8660154342651367,
                    "y": 0.42740458250045776,
                    "z": -0.1141047477722168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.030186045914888382,
        "expert_target_speed": 1.9767626093552928,
        "target_point": [
            50.19383488677036,
            -0.5698943336064843
        ],
        "target_point_next": [
            72.12133751526208,
            -2.313524745695384
        ]
    },
    "30": {
        "acceleration": [
            -1.4568257331848145,
            0.3189730644226074,
            -0.09421423077583313
        ],
        "angular_velocity": [
            0.07841650396585464,
            0.17571492493152618,
            -0.1396811604499817
        ],
        "forward_vector": [
            -0.9762589931488037,
            0.20843186974525452,
            -0.058945201337337494
        ],
        "right_vector": [
            -0.20877540111541748,
            -0.9779635667800903,
            -0.0003377390094101429
        ],
        "location": [
            -998.7944946289062,
            3045.8095703125,
            360.099609375
        ],
        "rotation": [
            0.019384725019335747,
            -3.379270076751709,
            167.94825744628906
        ],
        "velocity": [
            -1.1406136751174927,
            0.24723967909812927,
            -0.06868711858987808
        ],
        "speed": 1.1671019727451322,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.938131332397461,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1014.4057006835938,
                3048.89208984375,
                359.19830322265625
            ],
            "velocity": [
                -4.65195894241333,
                0.9215698838233948,
                -0.2785758972167969
            ],
            "speed_kmh": 17.101939184724333,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.733412265777588,
                "transform": {
                    "location": {
                        "x": -970.6861572265625,
                        "y": 3038.897216796875,
                        "z": 361.80670166015625
                    },
                    "rotation": {
                        "roll": -0.05072016268968582,
                        "pitch": -2.679838180541992,
                        "yaw": 164.8284149169922
                    }
                },
                "velocity": {
                    "x": -4.568958282470703,
                    "y": 1.2085832357406616,
                    "z": -0.2629374563694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.541764259338379,
                "transform": {
                    "location": {
                        "x": -985.8428955078125,
                        "y": 3042.8515625,
                        "z": 360.8915100097656
                    },
                    "rotation": {
                        "roll": -0.05050656571984291,
                        "pitch": -3.1643035411834717,
                        "yaw": 167.0840606689453
                    }
                },
                "velocity": {
                    "x": -5.395323276519775,
                    "y": 1.222396731376648,
                    "z": -0.327696830034256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7505388259887695,
                "transform": {
                    "location": {
                        "x": -1014.4057006835938,
                        "y": 3048.89208984375,
                        "z": 359.19830322265625
                    },
                    "rotation": {
                        "roll": -0.021240228787064552,
                        "pitch": -3.230283260345459,
                        "yaw": 168.8208465576172
                    }
                },
                "velocity": {
                    "x": -4.65195894241333,
                    "y": 0.9215698838233948,
                    "z": -0.2785758972167969
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5714852809906006,
                "transform": {
                    "location": {
                        "x": -1028.096435546875,
                        "y": 3051.861083984375,
                        "z": 358.3348388671875
                    },
                    "rotation": {
                        "roll": -0.010528571903705597,
                        "pitch": -3.3438076972961426,
                        "yaw": 167.1112823486328
                    }
                },
                "velocity": {
                    "x": -2.5021214485168457,
                    "y": 0.5737300515174866,
                    "z": -0.150859534740448
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03407972678542137,
        "expert_target_speed": 2.1940845980854933,
        "target_point": [
            49.92471330627115,
            -0.5405554961925407
        ],
        "target_point_next": [
            71.8532092328555,
            -2.2716490621921075
        ]
    },
    "35": {
        "acceleration": [
            -0.8838415145874023,
            0.19273757934570312,
            -0.03577306866645813
        ],
        "angular_velocity": [
            0.06362590193748474,
            0.04848882928490639,
            -0.18304206430912018
        ],
        "forward_vector": [
            -0.9761566519737244,
            0.20914188027381897,
            -0.05811883136630058
        ],
        "right_vector": [
            -0.20947076380252838,
            -0.977814793586731,
            -0.00044265715405344963
        ],
        "location": [
            -999.1157836914062,
            3045.87939453125,
            360.08001708984375
        ],
        "rotation": [
            0.02540533058345318,
            -3.331841230392456,
            167.9071807861328
        ],
        "velocity": [
            -1.4254118204116821,
            0.30991479754447937,
            -0.08598870038986206
        ],
        "speed": 1.4587138305734888,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.911026000976562,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1015.6809692382812,
                3049.14453125,
                359.1227722167969
            ],
            "velocity": [
                -5.286482810974121,
                1.0453637838363647,
                -0.31569576263427734
            ],
            "speed_kmh": 19.43311536952104,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.389083385467529,
                "transform": {
                    "location": {
                        "x": -971.9425659179688,
                        "y": 3039.229736328125,
                        "z": 361.7346496582031
                    },
                    "rotation": {
                        "roll": -0.058807384222745895,
                        "pitch": -2.947260618209839,
                        "yaw": 165.0658721923828
                    }
                },
                "velocity": {
                    "x": -5.202357769012451,
                    "y": 1.3711198568344116,
                    "z": -0.3126083016395569
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6780309677124023,
                "transform": {
                    "location": {
                        "x": -987.0157470703125,
                        "y": 3043.11669921875,
                        "z": 360.81976318359375
                    },
                    "rotation": {
                        "roll": -0.059967055916786194,
                        "pitch": -3.784634828567505,
                        "yaw": 167.4118194580078
                    }
                },
                "velocity": {
                    "x": -2.606506824493408,
                    "y": 0.5934562683105469,
                    "z": -0.16056863963603973
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.398087501525879,
                "transform": {
                    "location": {
                        "x": -1015.6809692382812,
                        "y": 3049.14453125,
                        "z": 359.1227722167969
                    },
                    "rotation": {
                        "roll": -0.022094739601016045,
                        "pitch": -3.287137746810913,
                        "yaw": 168.81573486328125
                    }
                },
                "velocity": {
                    "x": -5.286482810974121,
                    "y": 1.0453637838363647,
                    "z": -0.31569576263427734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2552430629730225,
                "transform": {
                    "location": {
                        "x": -1028.807373046875,
                        "y": 3052.02392578125,
                        "z": 358.2920227050781
                    },
                    "rotation": {
                        "roll": -0.018066396936774254,
                        "pitch": -3.343384265899658,
                        "yaw": 167.10411071777344
                    }
                },
                "velocity": {
                    "x": -3.167553424835205,
                    "y": 0.7258280515670776,
                    "z": -0.19075454771518707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03795303404331207,
        "expert_target_speed": 2.5119587899795333,
        "target_point": [
            49.59630050078978,
            -0.5038087014628427
        ],
        "target_point_next": [
            71.52603144655497,
            -2.219185972742073
        ]
    },
    "40": {
        "acceleration": [
            -1.0217571258544922,
            0.23391962051391602,
            -0.05455374717712402
        ],
        "angular_velocity": [
            0.07613645493984222,
            0.006359859369695187,
            -0.19358421862125397
        ],
        "forward_vector": [
            -0.9759814739227295,
            0.20993608236312866,
            -0.05819808691740036
        ],
        "right_vector": [
            -0.2102569192647934,
            -0.9776459336280823,
            -0.0006238337955437601
        ],
        "location": [
            -999.4995727539062,
            3045.962646484375,
            360.0567626953125
        ],
        "rotation": [
            0.03580373153090477,
            -3.3363900184631348,
            167.86050415039062
        ],
        "velocity": [
            -1.6428838968276978,
            0.3585819602012634,
            -0.0996842160820961
        ],
        "speed": 1.6815613341884208,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.702360153198242,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1016.8418579101562,
                3049.370849609375,
                359.0553283691406
            ],
            "velocity": [
                -2.550018072128296,
                0.49229907989501953,
                -0.1539808213710785
            ],
            "speed_kmh": 9.365993912390223,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.644331455230713,
                "transform": {
                    "location": {
                        "x": -973.3588256835938,
                        "y": 3039.60302734375,
                        "z": 361.6487731933594
                    },
                    "rotation": {
                        "roll": -0.04318239539861679,
                        "pitch": -2.936093330383301,
                        "yaw": 165.2049102783203
                    }
                },
                "velocity": {
                    "x": -6.4154558181762695,
                    "y": 1.6844128370285034,
                    "z": -0.3896423876285553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2343629598617554,
                "transform": {
                    "location": {
                        "x": -987.2101440429688,
                        "y": 3043.160888671875,
                        "z": 360.8080139160156
                    },
                    "rotation": {
                        "roll": -0.06192014366388321,
                        "pitch": -3.757840156555176,
                        "yaw": 167.45346069335938
                    }
                },
                "velocity": {
                    "x": -1.2029194831848145,
                    "y": 0.267372727394104,
                    "z": -0.07175298780202866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6016650199890137,
                "transform": {
                    "location": {
                        "x": -1016.8418579101562,
                        "y": 3049.370849609375,
                        "z": 359.0553283691406
                    },
                    "rotation": {
                        "roll": -0.0204772986471653,
                        "pitch": -3.562005043029785,
                        "yaw": 168.5234375
                    }
                },
                "velocity": {
                    "x": -2.550018072128296,
                    "y": 0.49229907989501953,
                    "z": -0.1539808213710785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.085761547088623,
                "transform": {
                    "location": {
                        "x": -1029.69921875,
                        "y": 3052.228271484375,
                        "z": 358.2384033203125
                    },
                    "rotation": {
                        "roll": -0.019989004358649254,
                        "pitch": -3.3354475498199463,
                        "yaw": 167.0968475341797
                    }
                },
                "velocity": {
                    "x": -3.9757046699523926,
                    "y": 0.9113187193870544,
                    "z": -0.23815451562404633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.043194398283958435,
        "expert_target_speed": 2.734555859379198,
        "target_point": [
            49.203980364003286,
            -0.4627091859088672
        ],
        "target_point_next": [
            71.13510191416097,
            -2.160215029398465
        ]
    },
    "45": {
        "acceleration": [
            -1.0180854797363281,
            0.22476732730865479,
            -0.05669206380844116
        ],
        "angular_velocity": [
            0.017883168533444405,
            0.005094518885016441,
            -0.21870310604572296
        ],
        "forward_vector": [
            -0.9757891297340393,
            0.21086174249649048,
            -0.05807682126760483
        ],
        "right_vector": [
            -0.21117162704467773,
            -0.9774486422538757,
            -0.0008187288767658174
        ],
        "location": [
            -999.943115234375,
            3046.0595703125,
            360.0298767089844
        ],
        "rotation": [
            0.04698902741074562,
            -3.329430103302002,
            167.80624389648438
        ],
        "velocity": [
            -1.9017976522445679,
            0.41677287220954895,
            -0.11426755040884018
        ],
        "speed": 1.9469293610947336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.429975509643555,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1017.0206298828125,
                3049.405029296875,
                359.0447692871094
            ],
            "velocity": [
                -0.9828440546989441,
                0.19572857022285461,
                -0.0578833632171154
            ],
            "speed_kmh": 3.613730482843797,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.369632244110107,
                "transform": {
                    "location": {
                        "x": -974.9590454101562,
                        "y": 3040.020751953125,
                        "z": 361.5524597167969
                    },
                    "rotation": {
                        "roll": -0.053100571036338806,
                        "pitch": -3.2920827865600586,
                        "yaw": 165.3697509765625
                    }
                },
                "velocity": {
                    "x": -6.154867649078369,
                    "y": 1.5960253477096558,
                    "z": -0.3775196075439453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.525773286819458,
                "transform": {
                    "location": {
                        "x": -987.7105102539062,
                        "y": 3043.2724609375,
                        "z": 360.7779235839844
                    },
                    "rotation": {
                        "roll": -0.048339854925870895,
                        "pitch": -3.251948595046997,
                        "yaw": 167.4566192626953
                    }
                },
                "velocity": {
                    "x": -2.460814952850342,
                    "y": 0.5490783452987671,
                    "z": -0.14977958798408508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0038139820098877,
                "transform": {
                    "location": {
                        "x": -1017.0206298828125,
                        "y": 3049.405029296875,
                        "z": 359.0447692871094
                    },
                    "rotation": {
                        "roll": -0.013824478723108768,
                        "pitch": -3.5808358192443848,
                        "yaw": 168.46348571777344
                    }
                },
                "velocity": {
                    "x": -0.9828440546989441,
                    "y": 0.19572857022285461,
                    "z": -0.0578833632171154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.124570369720459,
                "transform": {
                    "location": {
                        "x": -1030.822021484375,
                        "y": 3052.48583984375,
                        "z": 358.1710510253906
                    },
                    "rotation": {
                        "roll": -0.0320434607565403,
                        "pitch": -3.312825918197632,
                        "yaw": 167.09408569335938
                    }
                },
                "velocity": {
                    "x": -4.986710548400879,
                    "y": 1.1433982849121094,
                    "z": -0.2942410707473755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.049038827419281006,
        "expert_target_speed": 2.9768671384474774,
        "target_point": [
            48.75038891787619,
            -0.41503649103520246
        ],
        "target_point_next": [
            70.6831089689884,
            -2.0917623768055
        ]
    },
    "50": {
        "acceleration": [
            -0.9714698791503906,
            0.2272331714630127,
            -0.06556928157806396
        ],
        "angular_velocity": [
            0.035259563475847244,
            -0.04099114611744881,
            -0.26592689752578735
        ],
        "forward_vector": [
            -0.9755581021308899,
            0.2119326889514923,
            -0.058059804141521454
        ],
        "right_vector": [
            -0.21223339438438416,
            -0.9772184491157532,
            -0.0010078909108415246
        ],
        "location": [
            -1000.4533081054688,
            3046.17138671875,
            359.9990234375
        ],
        "rotation": [
            0.057845477014780045,
            -3.328453540802002,
            167.7433624267578
        ],
        "velocity": [
            -2.157289743423462,
            0.4753988981246948,
            -0.1308945268392563
        ],
        "speed": 2.2090502822295015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.35507583618164,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1017.4590454101562,
                3049.49365234375,
                359.01611328125
            ],
            "velocity": [
                -2.2432379722595215,
                0.4776226282119751,
                -0.1348956674337387
            ],
            "speed_kmh": 8.270945601243147,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4961739778518677,
                "transform": {
                    "location": {
                        "x": -975.7911987304688,
                        "y": 3040.2392578125,
                        "z": 361.5070495605469
                    },
                    "rotation": {
                        "roll": -0.047973692417144775,
                        "pitch": -4.894014835357666,
                        "yaw": 165.61685180664062
                    }
                },
                "velocity": {
                    "x": -0.47742995619773865,
                    "y": 0.1312393695116043,
                    "z": -0.03202317655086517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001250916626304388,
                "transform": {
                    "location": {
                        "x": -988.057373046875,
                        "y": 3043.349853515625,
                        "z": 360.7566223144531
                    },
                    "rotation": {
                        "roll": -0.0436401292681694,
                        "pitch": -3.806669235229492,
                        "yaw": 167.47950744628906
                    }
                },
                "velocity": {
                    "x": -0.0011252331314608455,
                    "y": 0.0003752844058908522,
                    "z": 0.00039724583621136844
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.297484874725342,
                "transform": {
                    "location": {
                        "x": -1017.4590454101562,
                        "y": 3049.49365234375,
                        "z": 359.01611328125
                    },
                    "rotation": {
                        "roll": -0.01214598212391138,
                        "pitch": -3.307833194732666,
                        "yaw": 168.49082946777344
                    }
                },
                "velocity": {
                    "x": -2.2432379722595215,
                    "y": 0.4776226282119751,
                    "z": -0.1348956674337387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.512881278991699,
                "transform": {
                    "location": {
                        "x": -1032.12060546875,
                        "y": 3052.78369140625,
                        "z": 358.0938720703125
                    },
                    "rotation": {
                        "roll": -0.03396601974964142,
                        "pitch": -3.300600051879883,
                        "yaw": 167.08677673339844
                    }
                },
                "velocity": {
                    "x": -5.3642802238464355,
                    "y": 1.231461524963379,
                    "z": -0.31600555777549744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05881652235984802,
        "expert_target_speed": 3.2393937323800857,
        "target_point": [
            48.22851354984457,
            -0.36058853304700733
        ],
        "target_point_next": [
            70.16306010620485,
            -2.0132487834723083
        ]
    },
    "55": {
        "acceleration": [
            -0.9507274627685547,
            0.22235751152038574,
            -0.059088170528411865
        ],
        "angular_velocity": [
            0.051158420741558075,
            -0.0395146869122982,
            -0.28355416655540466
        ],
        "forward_vector": [
            -0.9752936363220215,
            0.21310938894748688,
            -0.05819499492645264
        ],
        "right_vector": [
            -0.21340395510196686,
            -0.9769632816314697,
            -0.0011776344617828727
        ],
        "location": [
            -1001.0225830078125,
            3046.297119140625,
            359.964599609375
        ],
        "rotation": [
            0.06758804619312286,
            -3.336212635040283,
            167.6741485595703
        ],
        "velocity": [
            -2.3948683738708496,
            0.5306615829467773,
            -0.14498427510261536
        ],
        "speed": 2.4529566330822865,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.331926345825195,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1018.0069580078125,
                3049.6083984375,
                358.9837341308594
            ],
            "velocity": [
                -2.1396560668945312,
                0.45244237780570984,
                -0.12769711017608643
            ],
            "speed_kmh": 7.886497200498696,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3724439144134521,
                "transform": {
                    "location": {
                        "x": -975.9620361328125,
                        "y": 3040.283447265625,
                        "z": 361.49346923828125
                    },
                    "rotation": {
                        "roll": -0.044342041015625,
                        "pitch": -4.087151050567627,
                        "yaw": 165.6531219482422
                    }
                },
                "velocity": {
                    "x": -1.326885461807251,
                    "y": 0.3414682447910309,
                    "z": -0.07985401898622513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4985408782958984,
                "transform": {
                    "location": {
                        "x": -988.2659912109375,
                        "y": 3043.395751953125,
                        "z": 360.74420166015625
                    },
                    "rotation": {
                        "roll": -0.04263309761881828,
                        "pitch": -3.319847345352173,
                        "yaw": 167.5405731201172
                    }
                },
                "velocity": {
                    "x": -1.4611390829086304,
                    "y": 0.32101938128471375,
                    "z": -0.08742936700582504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1906936168670654,
                "transform": {
                    "location": {
                        "x": -1018.0069580078125,
                        "y": 3049.6083984375,
                        "z": 358.9837341308594
                    },
                    "rotation": {
                        "roll": -0.00997923593968153,
                        "pitch": -3.3663337230682373,
                        "yaw": 168.37826538085938
                    }
                },
                "velocity": {
                    "x": -2.1396560668945312,
                    "y": 0.45244237780570984,
                    "z": -0.12769711017608643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.672911643981934,
                "transform": {
                    "location": {
                        "x": -1033.5968017578125,
                        "y": 3053.130615234375,
                        "z": 358.0061950683594
                    },
                    "rotation": {
                        "roll": -0.027099642902612686,
                        "pitch": -3.245972156524658,
                        "yaw": 166.76895141601562
                    }
                },
                "velocity": {
                    "x": -6.477413654327393,
                    "y": 1.5569223165512085,
                    "z": -0.3832222521305084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07061570882797241,
        "expert_target_speed": 3.4752472335813995,
        "target_point": [
            47.64592089969118,
            -0.301025710289494
        ],
        "target_point_next": [
            69.5824475861515,
            -1.927191590723094
        ]
    },
    "60": {
        "acceleration": [
            -1.2017345428466797,
            0.29083251953125,
            -0.061202943325042725
        ],
        "angular_velocity": [
            0.019294122233986855,
            0.02610640600323677,
            -0.3234831392765045
        ],
        "forward_vector": [
            -0.9750092029571533,
            0.21441036462783813,
            -0.0581827387213707
        ],
        "right_vector": [
            -0.2147018015384674,
            -0.976678729057312,
            -0.001268550637178123
        ],
        "location": [
            -1001.6571044921875,
            3046.43798828125,
            359.9261169433594
        ],
        "rotation": [
            0.07280595600605011,
            -3.3355090618133545,
            167.59771728515625
        ],
        "velocity": [
            -2.6720573902130127,
            0.5961668491363525,
            -0.16197402775287628
        ],
        "speed": 2.7377555786814027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.316585540771484,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1018.6278686523438,
                3049.739013671875,
                358.946044921875
            ],
            "velocity": [
                -2.9676148891448975,
                0.6278747320175171,
                -0.17810389399528503
            ],
            "speed_kmh": 10.938720585672776,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.263681411743164,
                "transform": {
                    "location": {
                        "x": -976.4121704101562,
                        "y": 3040.3994140625,
                        "z": 361.46343994140625
                    },
                    "rotation": {
                        "roll": -0.031982503831386566,
                        "pitch": -3.3727405071258545,
                        "yaw": 165.6245574951172
                    }
                },
                "velocity": {
                    "x": -2.1885125637054443,
                    "y": 0.562896728515625,
                    "z": -0.1334700882434845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0164361000061035,
                "transform": {
                    "location": {
                        "x": -988.81787109375,
                        "y": 3043.517822265625,
                        "z": 360.7108154296875
                    },
                    "rotation": {
                        "roll": -0.03338620439171791,
                        "pitch": -3.14516544342041,
                        "yaw": 167.50498962402344
                    }
                },
                "velocity": {
                    "x": -2.94049072265625,
                    "y": 0.6487239599227905,
                    "z": -0.17764969170093536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0385334491729736,
                "transform": {
                    "location": {
                        "x": -1018.6278686523438,
                        "y": 3049.739013671875,
                        "z": 358.946044921875
                    },
                    "rotation": {
                        "roll": -0.013702359050512314,
                        "pitch": -3.31524395942688,
                        "yaw": 168.2869415283203
                    }
                },
                "velocity": {
                    "x": -2.9676148891448975,
                    "y": 0.6278747320175171,
                    "z": -0.17810389399528503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.872856616973877,
                "transform": {
                    "location": {
                        "x": -1035.370361328125,
                        "y": 3053.556396484375,
                        "z": 357.9022521972656
                    },
                    "rotation": {
                        "roll": -0.016296381130814552,
                        "pitch": -3.1946091651916504,
                        "yaw": 166.42393493652344
                    }
                },
                "velocity": {
                    "x": -7.638003349304199,
                    "y": 1.8571720123291016,
                    "z": -0.4400957524776459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08974069356918335,
        "expert_target_speed": 3.7591121320183722,
        "target_point": [
            46.99631094215664,
            -0.2361535279781588
        ],
        "target_point_next": [
            68.93498771862163,
            -1.8330504671285937
        ]
    },
    "65": {
        "acceleration": [
            -0.9877395629882812,
            0.2362346649169922,
            -0.06914138793945312
        ],
        "angular_velocity": [
            0.02763199992477894,
            -0.030945217236876488,
            -0.35152411460876465
        ],
        "forward_vector": [
            -0.9746971726417542,
            0.21585389971733093,
            -0.058073725551366806
        ],
        "right_vector": [
            -0.21613723039627075,
            -0.9763619303703308,
            -0.0014326305827125907
        ],
        "location": [
            -1002.361328125,
            3046.59521484375,
            359.8833923339844
        ],
        "rotation": [
            0.08222247660160065,
            -3.3292524814605713,
            167.51295471191406
        ],
        "velocity": [
            -2.94769024848938,
            0.6614224910736084,
            -0.17859072983264923
        ],
        "speed": 3.0209861821493655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.54313087463379,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1019.5551147460938,
                3049.93408203125,
                358.8898620605469
            ],
            "velocity": [
                -4.371201515197754,
                0.9248549938201904,
                -0.2624601423740387
            ],
            "speed_kmh": 16.112421179023837,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.026845024898648262,
                "transform": {
                    "location": {
                        "x": -976.8345947265625,
                        "y": 3040.5068359375,
                        "z": 361.4393615722656
                    },
                    "rotation": {
                        "roll": -0.020202599465847015,
                        "pitch": -3.847745895385742,
                        "yaw": 165.4898681640625
                    }
                },
                "velocity": {
                    "x": -0.026336248964071274,
                    "y": 0.004805531352758408,
                    "z": -0.0019910228438675404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.618403911590576,
                "transform": {
                    "location": {
                        "x": -989.76123046875,
                        "y": 3043.725830078125,
                        "z": 360.65374755859375
                    },
                    "rotation": {
                        "roll": -0.03509519621729851,
                        "pitch": -3.0977776050567627,
                        "yaw": 167.5371856689453
                    }
                },
                "velocity": {
                    "x": -4.502272605895996,
                    "y": 0.9922446012496948,
                    "z": -0.2732227146625519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.475672721862793,
                "transform": {
                    "location": {
                        "x": -1019.5551147460938,
                        "y": 3049.93408203125,
                        "z": 358.8898620605469
                    },
                    "rotation": {
                        "roll": -0.017608653753995895,
                        "pitch": -3.244688034057617,
                        "yaw": 168.1942901611328
                    }
                },
                "velocity": {
                    "x": -4.371201515197754,
                    "y": 0.9248549938201904,
                    "z": -0.2624601423740387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.135562896728516,
                "transform": {
                    "location": {
                        "x": -1037.3525390625,
                        "y": 3054.03857421875,
                        "z": 357.78814697265625
                    },
                    "rotation": {
                        "roll": -0.01321413740515709,
                        "pitch": -3.154843807220459,
                        "yaw": 166.1943359375
                    }
                },
                "velocity": {
                    "x": -7.884819984436035,
                    "y": 1.9537209272384644,
                    "z": -0.44717633724212646
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12078350782394409,
        "expert_target_speed": 4.054552289592367,
        "target_point": [
            46.275048322748965,
            -0.165397337152152
        ],
        "target_point_next": [
            68.21606314704066,
            -1.7298419723774376
        ]
    },
    "70": {
        "acceleration": [
            -0.6329202651977539,
            0.16785264015197754,
            -0.04690438508987427
        ],
        "angular_velocity": [
            0.005681067705154419,
            -0.09920681267976761,
            -0.37892383337020874
        ],
        "forward_vector": [
            -0.9743351936340332,
            0.21742121875286102,
            -0.058300793170928955
        ],
        "right_vector": [
            -0.2176969200372696,
            -0.9760150909423828,
            -0.0016569130821153522
        ],
        "location": [
            -1003.1266479492188,
            3046.767333984375,
            359.8371887207031
        ],
        "rotation": [
            0.0950959250330925,
            -3.342284679412842,
            167.42063903808594
        ],
        "velocity": [
            -3.145890712738037,
            0.7113223671913147,
            -0.19073182344436646
        ],
        "speed": 3.225307409621305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.026443481445312,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1020.7946166992188,
                3050.195556640625,
                358.8160095214844
            ],
            "velocity": [
                -5.167895793914795,
                1.0946736335754395,
                -0.31131353974342346
            ],
            "speed_kmh": 19.050216784436405,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9271401762962341,
                "transform": {
                    "location": {
                        "x": -976.9503784179688,
                        "y": 3040.536865234375,
                        "z": 361.4313049316406
                    },
                    "rotation": {
                        "roll": -0.014465312473475933,
                        "pitch": -3.602719783782959,
                        "yaw": 165.51052856445312
                    }
                },
                "velocity": {
                    "x": -0.8964443206787109,
                    "y": 0.23018088936805725,
                    "z": -0.05471011996269226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.669342994689941,
                "transform": {
                    "location": {
                        "x": -990.9954223632812,
                        "y": 3043.998046875,
                        "z": 360.5788879394531
                    },
                    "rotation": {
                        "roll": -0.049255382269620895,
                        "pitch": -3.3417587280273438,
                        "yaw": 167.9270477294922
                    }
                },
                "velocity": {
                    "x": -4.549147129058838,
                    "y": 1.0143508911132812,
                    "z": -0.2812747061252594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.291727066040039,
                "transform": {
                    "location": {
                        "x": -1020.7946166992188,
                        "y": 3050.195556640625,
                        "z": 358.8160095214844
                    },
                    "rotation": {
                        "roll": -0.01513672061264515,
                        "pitch": -3.265684127807617,
                        "yaw": 168.09228515625
                    }
                },
                "velocity": {
                    "x": -5.167895793914795,
                    "y": 1.0946736335754395,
                    "z": -0.31131353974342346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.1664557456970215,
                "transform": {
                    "location": {
                        "x": -1039.19482421875,
                        "y": 3054.498046875,
                        "z": 357.6839294433594
                    },
                    "rotation": {
                        "roll": -0.0061035314574837685,
                        "pitch": -3.1489288806915283,
                        "yaw": 165.8416748046875
                    }
                },
                "velocity": {
                    "x": -6.93571662902832,
                    "y": 1.7615101337432861,
                    "z": -0.38859251141548157
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1518959105014801,
        "expert_target_speed": 4.273720775666233,
        "target_point": [
            45.490820098508436,
            -0.0895295805789953
        ],
        "target_point_next": [
            67.43432712594317,
            -1.6186201185769367
        ]
    },
    "75": {
        "acceleration": [
            -0.4377174377441406,
            0.12346386909484863,
            -0.03304898738861084
        ],
        "angular_velocity": [
            -0.025179680436849594,
            -0.048554133623838425,
            -0.3897841274738312
        ],
        "forward_vector": [
            -0.9739395976066589,
            0.21905116736888885,
            -0.058806437999010086
        ],
        "right_vector": [
            -0.21932363510131836,
            -0.9756503701210022,
            -0.0018602804047986865
        ],
        "location": [
            -1003.926513671875,
            3046.94873046875,
            359.788818359375
        ],
        "rotation": [
            0.1067710593342781,
            -3.3713059425354004,
            167.3243865966797
        ],
        "velocity": [
            -3.254528522491455,
            0.7416661381721497,
            -0.19678901135921478
        ],
        "speed": 3.337967130488496,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.59868621826172,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1022.15576171875,
                3050.4833984375,
                358.7344055175781
            ],
            "velocity": [
                -5.697669506072998,
                1.2087676525115967,
                -0.34180015325546265
            ],
            "speed_kmh": 21.004198189960388,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8401679992675781,
                "transform": {
                    "location": {
                        "x": -977.2925415039062,
                        "y": 3040.625,
                        "z": 361.4090576171875
                    },
                    "rotation": {
                        "roll": -0.01174930203706026,
                        "pitch": -3.237058639526367,
                        "yaw": 165.5007781982422
                    }
                },
                "velocity": {
                    "x": -1.7787377834320068,
                    "y": 0.45870155096054077,
                    "z": -0.10910055041313171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4333436489105225,
                "transform": {
                    "location": {
                        "x": -991.8555297851562,
                        "y": 3044.19189453125,
                        "z": 360.5262756347656
                    },
                    "rotation": {
                        "roll": -0.11022952198982239,
                        "pitch": -3.7613234519958496,
                        "yaw": 168.924560546875
                    }
                },
                "velocity": {
                    "x": -2.370469093322754,
                    "y": 0.5303747653961182,
                    "z": -0.144013911485672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.834499835968018,
                "transform": {
                    "location": {
                        "x": -1022.15576171875,
                        "y": 3050.4833984375,
                        "z": 358.7344055175781
                    },
                    "rotation": {
                        "roll": -0.024078385904431343,
                        "pitch": -3.3114256858825684,
                        "yaw": 168.02882385253906
                    }
                },
                "velocity": {
                    "x": -5.697669506072998,
                    "y": 1.2087676525115967,
                    "z": -0.34180015325546265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.583594799041748,
                "transform": {
                    "location": {
                        "x": -1040.8525390625,
                        "y": 3054.919677734375,
                        "z": 357.591552734375
                    },
                    "rotation": {
                        "roll": -0.00787354726344347,
                        "pitch": -3.10687518119812,
                        "yaw": 165.57366943359375
                    }
                },
                "velocity": {
                    "x": -6.3664398193359375,
                    "y": 1.6391667127609253,
                    "z": -0.35397636890411377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17577672004699707,
        "expert_target_speed": 4.401238216386188,
        "target_point": [
            44.67073088682905,
            -0.01164883308131337
        ],
        "target_point_next": [
            66.6167756652504,
            -1.5038743924380071
        ]
    },
    "80": {
        "acceleration": [
            -0.8492708206176758,
            0.2207636833190918,
            -0.03791600465774536
        ],
        "angular_velocity": [
            0.02729538455605507,
            0.0847664549946785,
            -0.4141349196434021
        ],
        "forward_vector": [
            -0.9735628366470337,
            0.22076314687728882,
            -0.05864328891038895
        ],
        "right_vector": [
            -0.22102907299995422,
            -0.9752652645111084,
            -0.001993852434679866
        ],
        "location": [
            -1004.7619018554688,
            3047.1396484375,
            359.7380676269531
        ],
        "rotation": [
            0.11443635821342468,
            -3.3619418144226074,
            167.22378540039062
        ],
        "velocity": [
            -3.430630683898926,
            0.7880759835243225,
            -0.20741602778434753
        ],
        "speed": 3.5199844666016125,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.4996337890625,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1023.8717041015625,
                3050.857666015625,
                358.6301574707031
            ],
            "velocity": [
                -8.024206161499023,
                1.7903944253921509,
                -0.48346540331840515
            ],
            "speed_kmh": 29.648603277376886,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1311991214752197,
                "transform": {
                    "location": {
                        "x": -977.8218383789062,
                        "y": 3040.761474609375,
                        "z": 361.3765869140625
                    },
                    "rotation": {
                        "roll": -0.007446293253451586,
                        "pitch": -3.232325315475464,
                        "yaw": 165.5086212158203
                    }
                },
                "velocity": {
                    "x": -2.06015944480896,
                    "y": 0.5309731364250183,
                    "z": -0.12578029930591583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7798318862915039,
                "transform": {
                    "location": {
                        "x": -992.0333862304688,
                        "y": 3044.231689453125,
                        "z": 360.5155334472656
                    },
                    "rotation": {
                        "roll": -0.1355285346508026,
                        "pitch": -3.7537214756011963,
                        "yaw": 169.18382263183594
                    }
                },
                "velocity": {
                    "x": -0.7615917325019836,
                    "y": 0.16151073575019836,
                    "z": -0.045056283473968506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.235723495483398,
                "transform": {
                    "location": {
                        "x": -1023.8717041015625,
                        "y": 3050.857666015625,
                        "z": 358.6301574707031
                    },
                    "rotation": {
                        "roll": -0.0020751855336129665,
                        "pitch": -3.160888433456421,
                        "yaw": 167.68820190429688
                    }
                },
                "velocity": {
                    "x": -8.024206161499023,
                    "y": 1.7903944253921509,
                    "z": -0.48346540331840515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.394739627838135,
                "transform": {
                    "location": {
                        "x": -1042.4168701171875,
                        "y": 3055.32373046875,
                        "z": 357.5049133300781
                    },
                    "rotation": {
                        "roll": -0.003021240932866931,
                        "pitch": -3.047240972518921,
                        "yaw": 165.3933868408203
                    }
                },
                "velocity": {
                    "x": -6.17556095123291,
                    "y": 1.6254647970199585,
                    "z": -0.3361572325229645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20517045259475708,
        "expert_target_speed": 4.614836105568254,
        "target_point": [
            43.81375718176671,
            0.06823115296950277
        ],
        "target_point_next": [
            65.76238805607314,
            -1.3854611390632243
        ]
    },
    "85": {
        "acceleration": [
            -0.8647012710571289,
            0.2267742156982422,
            -0.047020912170410156
        ],
        "angular_velocity": [
            0.026204712688922882,
            0.04480377584695816,
            -0.4340429902076721
        ],
        "forward_vector": [
            -0.9731691479682922,
            0.22256846725940704,
            -0.05835339426994324
        ],
        "right_vector": [
            -0.22282734513282776,
            -0.9748556017875671,
            -0.0021149744279682636
        ],
        "location": [
            -1005.6473388671875,
            3047.34326171875,
            359.6845703125
        ],
        "rotation": [
            0.12138603627681732,
            -3.345303535461426,
            167.11773681640625
        ],
        "velocity": [
            -3.6478352546691895,
            0.844893217086792,
            -0.22045929729938507
        ],
        "speed": 3.7444020341687003,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.685338973999023,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1025.9141845703125,
                3051.3125,
                358.5084228515625
            ],
            "velocity": [
                -7.959043502807617,
                1.7842739820480347,
                -0.4794064164161682
            ],
            "speed_kmh": 29.41440966168954,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5889354944229126,
                "transform": {
                    "location": {
                        "x": -977.951904296875,
                        "y": 3040.795166015625,
                        "z": 361.3707275390625
                    },
                    "rotation": {
                        "roll": -0.008117666468024254,
                        "pitch": -3.8074615001678467,
                        "yaw": 165.51878356933594
                    }
                },
                "velocity": {
                    "x": -0.5698549747467041,
                    "y": 0.14456936717033386,
                    "z": -0.03478528931736946
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.196204900741577,
                "transform": {
                    "location": {
                        "x": -992.4135131835938,
                        "y": 3044.3125,
                        "z": 360.49267578125
                    },
                    "rotation": {
                        "roll": -0.0849304124712944,
                        "pitch": -3.267425775527954,
                        "yaw": 168.9371337890625
                    }
                },
                "velocity": {
                    "x": -2.1447622776031494,
                    "y": 0.45439258217811584,
                    "z": -0.12976406514644623
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.170669555664062,
                "transform": {
                    "location": {
                        "x": -1025.9141845703125,
                        "y": 3051.3125,
                        "z": 358.5084228515625
                    },
                    "rotation": {
                        "roll": -0.008087163791060448,
                        "pitch": -3.3281869888305664,
                        "yaw": 167.42933654785156
                    }
                },
                "velocity": {
                    "x": -7.959043502807617,
                    "y": 1.7842739820480347,
                    "z": -0.4794064164161682
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.327219009399414,
                "transform": {
                    "location": {
                        "x": -1043.9578857421875,
                        "y": 3055.73095703125,
                        "z": 357.4208068847656
                    },
                    "rotation": {
                        "roll": 0.0007230429328046739,
                        "pitch": -2.999511480331421,
                        "yaw": 165.1219482421875
                    }
                },
                "velocity": {
                    "x": -6.103756427764893,
                    "y": 1.6336930990219116,
                    "z": -0.3300040364265442
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2414007931947708,
        "expert_target_speed": 4.851780577015029,
        "target_point": [
            42.90500978079959,
            0.15041606489161197
        ],
        "target_point_next": [
            64.85629395345875,
            -1.2626450475999427
        ]
    },
    "90": {
        "acceleration": [
            -0.8921289443969727,
            0.24084687232971191,
            -0.07044821977615356
        ],
        "angular_velocity": [
            0.05075147747993469,
            0.018209371715784073,
            -0.46020546555519104
        ],
        "forward_vector": [
            -0.9727393984794617,
            0.22447961568832397,
            -0.05819808691740036
        ],
        "right_vector": [
            -0.22473181784152985,
            -0.974418044090271,
            -0.0022595422342419624
        ],
        "location": [
            -1006.5891723632812,
            3047.56201171875,
            359.6275329589844
        ],
        "rotation": [
            0.12968215346336365,
            -3.3363900184631348,
            167.00531005859375
        ],
        "velocity": [
            -3.872314691543579,
            0.904792845249176,
            -0.23459403216838837
        ],
        "speed": 3.9766155412810957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.616146087646484,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1027.764404296875,
                3051.72802734375,
                358.3980407714844
            ],
            "velocity": [
                -7.020116329193115,
                1.62102210521698,
                -0.42477843165397644
            ],
            "speed_kmh": 25.982470383602404,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.453661322593689,
                "transform": {
                    "location": {
                        "x": -978.2186279296875,
                        "y": 3040.864013671875,
                        "z": 361.3526916503906
                    },
                    "rotation": {
                        "roll": -0.008087125606834888,
                        "pitch": -3.3333096504211426,
                        "yaw": 165.522705078125
                    }
                },
                "velocity": {
                    "x": -1.4053030014038086,
                    "y": 0.36194854974746704,
                    "z": -0.08513443171977997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1297451257705688,
                "transform": {
                    "location": {
                        "x": -992.9592895507812,
                        "y": 3044.427978515625,
                        "z": 360.45953369140625
                    },
                    "rotation": {
                        "roll": -0.06582643836736679,
                        "pitch": -3.501530408859253,
                        "yaw": 168.4589080810547
                    }
                },
                "velocity": {
                    "x": -1.1049599647521973,
                    "y": 0.22527790069580078,
                    "z": -0.06809738278388977
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.217352867126465,
                "transform": {
                    "location": {
                        "x": -1027.764404296875,
                        "y": 3051.72802734375,
                        "z": 358.3980407714844
                    },
                    "rotation": {
                        "roll": -0.0029601496644318104,
                        "pitch": -3.4439382553100586,
                        "yaw": 167.30740356445312
                    }
                },
                "velocity": {
                    "x": -7.020116329193115,
                    "y": 1.62102210521698,
                    "z": -0.42477843165397644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.987514019012451,
                "transform": {
                    "location": {
                        "x": -1045.434814453125,
                        "y": 3056.1259765625,
                        "z": 357.3414611816406
                    },
                    "rotation": {
                        "roll": -0.003448465373367071,
                        "pitch": -2.96279239654541,
                        "yaw": 164.9378204345703
                    }
                },
                "velocity": {
                    "x": -5.773514747619629,
                    "y": 1.5563108921051025,
                    "z": -0.3078080117702484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27644598484039307,
        "expert_target_speed": 5.085494464691648,
        "target_point": [
            41.93772975674771,
            0.23597053532285805
        ],
        "target_point_next": [
            63.891744356743835,
            -1.134015406075445
        ]
    },
    "95": {
        "acceleration": [
            -0.8125495910644531,
            0.22464752197265625,
            -0.04612177610397339
        ],
        "angular_velocity": [
            -0.00046065589413046837,
            -0.005537910852581263,
            -0.48221245408058167
        ],
        "forward_vector": [
            -0.9722714424133301,
            0.22648553550243378,
            -0.0582454539835453
        ],
        "right_vector": [
            -0.2267332375049591,
            -0.973953902721405,
            -0.0024074784014374018
        ],
        "location": [
            -1007.5831298828125,
            3047.794921875,
            359.5673828125
        ],
        "rotation": [
            0.13817305862903595,
            -3.339108467102051,
            166.88710021972656
        ],
        "velocity": [
            -4.072403430938721,
            0.9601827263832092,
            -0.2464185208082199
        ],
        "speed": 4.184067467473028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.43674087524414,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1029.55712890625,
                3052.144287109375,
                358.2892150878906
            ],
            "velocity": [
                -7.507530212402344,
                1.768389105796814,
                -0.4513232409954071
            ],
            "speed_kmh": 27.81425852928614,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3115057945251465,
                "transform": {
                    "location": {
                        "x": -978.6937255859375,
                        "y": 3040.984619140625,
                        "z": 361.3229675292969
                    },
                    "rotation": {
                        "roll": -0.026702893897891045,
                        "pitch": -3.144653081893921,
                        "yaw": 165.59927368164062
                    }
                },
                "velocity": {
                    "x": -2.2380075454711914,
                    "y": 0.5619179606437683,
                    "z": -0.13648924231529236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9451669454574585,
                "transform": {
                    "location": {
                        "x": -993.0589599609375,
                        "y": 3044.44873046875,
                        "z": 360.4534606933594
                    },
                    "rotation": {
                        "roll": -0.05902103707194328,
                        "pitch": -3.4833688735961914,
                        "yaw": 168.45628356933594
                    }
                },
                "velocity": {
                    "x": -0.9231516718864441,
                    "y": 0.1949230283498764,
                    "z": -0.0560053288936615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.72618293762207,
                "transform": {
                    "location": {
                        "x": -1029.55712890625,
                        "y": 3052.144287109375,
                        "z": 358.2892150878906
                    },
                    "rotation": {
                        "roll": 0.0011347969993948936,
                        "pitch": -3.356020212173462,
                        "yaw": 166.9308319091797
                    }
                },
                "velocity": {
                    "x": -7.507530212402344,
                    "y": 1.768389105796814,
                    "z": -0.4513232409954071
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.061319351196289,
                "transform": {
                    "location": {
                        "x": -1046.8758544921875,
                        "y": 3056.5146484375,
                        "z": 357.2648620605469
                    },
                    "rotation": {
                        "roll": -0.002532919403165579,
                        "pitch": -2.9109513759613037,
                        "yaw": 164.8342742919922
                    }
                },
                "velocity": {
                    "x": -5.83882999420166,
                    "y": 1.598207950592041,
                    "z": -0.3055936098098755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3204847574234009,
        "expert_target_speed": 5.30189699945843,
        "target_point": [
            40.916273164383995,
            0.32383682993342155
        ],
        "target_point_next": [
            62.8730676890591,
            -1.0008490715804772
        ]
    },
    "100": {
        "acceleration": [
            -1.0695457458496094,
            0.18720626831054688,
            -0.080757737159729
        ],
        "angular_velocity": [
            -0.041237231343984604,
            0.062095459550619125,
            0.24522216618061066
        ],
        "forward_vector": [
            -0.9721387624740601,
            0.22709199786186218,
            -0.05809871479868889
        ],
        "right_vector": [
            -0.22735686600208282,
            -0.9738092422485352,
            -0.002097460674121976
        ],
        "location": [
            -1008.6329956054688,
            3048.040771484375,
            359.50384521484375
        ],
        "rotation": [
            0.12037907540798187,
            -3.3306868076324463,
            166.85147094726562
        ],
        "velocity": [
            -4.322854518890381,
            1.0036835670471191,
            -0.2618221044540405
        ],
        "speed": 4.437843157914823,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.37590217590332,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1031.52001953125,
                3052.60595703125,
                358.1711730957031
            ],
            "velocity": [
                -7.800852298736572,
                1.844868540763855,
                -0.46567413210868835
            ],
            "speed_kmh": 28.906383522687136,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.006685946602374315,
                "transform": {
                    "location": {
                        "x": -979.0025634765625,
                        "y": 3041.0634765625,
                        "z": 361.30712890625
                    },
                    "rotation": {
                        "roll": -0.02182004787027836,
                        "pitch": -3.959228277206421,
                        "yaw": 165.7725372314453
                    }
                },
                "velocity": {
                    "x": -0.006239027716219425,
                    "y": 0.002134797628968954,
                    "z": -0.0011041079415008426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.34004545211792,
                "transform": {
                    "location": {
                        "x": -993.4705810546875,
                        "y": 3044.53515625,
                        "z": 360.4286193847656
                    },
                    "rotation": {
                        "roll": -0.052490249276161194,
                        "pitch": -3.2080371379852295,
                        "yaw": 168.4102020263672
                    }
                },
                "velocity": {
                    "x": -2.2861948013305664,
                    "y": 0.47972074151039124,
                    "z": -0.13781757652759552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029550552368164,
                "transform": {
                    "location": {
                        "x": -1031.52001953125,
                        "y": 3052.60595703125,
                        "z": 358.1711730957031
                    },
                    "rotation": {
                        "roll": -0.011535640805959702,
                        "pitch": -3.314997911453247,
                        "yaw": 166.7491455078125
                    }
                },
                "velocity": {
                    "x": -7.800852298736572,
                    "y": 1.844868540763855,
                    "z": -0.46567413210868835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.083945274353027,
                "transform": {
                    "location": {
                        "x": -1048.34423828125,
                        "y": 3056.91796875,
                        "z": 357.1878356933594
                    },
                    "rotation": {
                        "roll": -0.0017395057948306203,
                        "pitch": -2.870905876159668,
                        "yaw": 164.6002197265625
                    }
                },
                "velocity": {
                    "x": -5.854281902313232,
                    "y": 1.627779483795166,
                    "z": -0.30349788069725037
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.353329598903656,
        "expert_target_speed": 5.562690583775264,
        "target_point": [
            39.83779689437258,
            0.3498638388097941
        ],
        "target_point_next": [
            61.79541085835568,
            -0.961169168084588
        ]
    },
    "105": {
        "acceleration": [
            -1.0806465148925781,
            0.20942211151123047,
            -0.05940079689025879
        ],
        "angular_velocity": [
            0.0019473644206300378,
            0.04680490493774414,
            0.4265284538269043
        ],
        "forward_vector": [
            -0.9725167155265808,
            0.22551769018173218,
            -0.057905685156583786
        ],
        "right_vector": [
            -0.22578983008861542,
            -0.9741742014884949,
            -0.0018847690662369132
        ],
        "location": [
            -1009.7483520507812,
            3048.29833984375,
            359.4363098144531
        ],
        "rotation": [
            0.10817088186740875,
            -3.319608449935913,
            166.9443817138672
        ],
        "velocity": [
            -4.591251850128174,
            1.0530322790145874,
            -0.27718570828437805
        ],
        "speed": 4.710463940202922,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.120018005371094,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1033.3568115234375,
                3053.044921875,
                358.06304931640625
            ],
            "velocity": [
                -6.936280250549316,
                1.702223777770996,
                -0.40937456488609314
            ],
            "speed_kmh": 25.753751105700328,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1368789672851562,
                "transform": {
                    "location": {
                        "x": -979.1717529296875,
                        "y": 3041.10595703125,
                        "z": 361.294921875
                    },
                    "rotation": {
                        "roll": -0.024993903934955597,
                        "pitch": -3.483642101287842,
                        "yaw": 165.83612060546875
                    }
                },
                "velocity": {
                    "x": -1.1009697914123535,
                    "y": 0.27548590302467346,
                    "z": -0.06683436781167984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9439284801483154,
                "transform": {
                    "location": {
                        "x": -994.2427368164062,
                        "y": 3044.69775390625,
                        "z": 360.3818664550781
                    },
                    "rotation": {
                        "roll": -0.0431518591940403,
                        "pitch": -3.1041500568389893,
                        "yaw": 168.29849243164062
                    }
                },
                "velocity": {
                    "x": -3.8525266647338867,
                    "y": 0.8114221692085266,
                    "z": -0.23281703889369965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.153820037841797,
                "transform": {
                    "location": {
                        "x": -1033.3568115234375,
                        "y": 3053.044921875,
                        "z": 358.06304931640625
                    },
                    "rotation": {
                        "roll": 0.0036807002034038305,
                        "pitch": -3.3666000366210938,
                        "yaw": 166.49981689453125
                    }
                },
                "velocity": {
                    "x": -6.936280250549316,
                    "y": 1.702223777770996,
                    "z": -0.40937456488609314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.903538703918457,
                "transform": {
                    "location": {
                        "x": -1049.781494140625,
                        "y": 3057.3173828125,
                        "z": 357.1138610839844
                    },
                    "rotation": {
                        "roll": -0.0008849768782965839,
                        "pitch": -2.832301616668701,
                        "yaw": 164.4090576171875
                    }
                },
                "velocity": {
                    "x": -5.677985668182373,
                    "y": 1.5900193452835083,
                    "z": -0.28998100757598877
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3932726979255676,
        "expert_target_speed": 5.832481817406514,
        "target_point": [
            38.69360202284105,
            0.28423187787660176
        ],
        "target_point_next": [
            60.649061623168315,
            -1.0623980916656475
        ]
    },
    "110": {
        "acceleration": [
            -1.0472393035888672,
            0.1981949806213379,
            -0.06565272808074951
        ],
        "angular_velocity": [
            -0.08410363644361496,
            0.03272005170583725,
            0.49644795060157776
        ],
        "forward_vector": [
            -0.9730000495910645,
            0.22346080839633942,
            -0.05776001885533333
        ],
        "right_vector": [
            -0.22374007105827332,
            -0.9746475219726562,
            -0.0016691518248990178
        ],
        "location": [
            -1010.93115234375,
            3048.568359375,
            359.3648986816406
        ],
        "rotation": [
            0.09579534083604813,
            -3.311248302459717,
            167.06564331054688
        ],
        "velocity": [
            -4.858063697814941,
            1.1026123762130737,
            -0.2929590344429016
        ],
        "speed": 4.981619911655808,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.345722198486328,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1034.7550048828125,
                3053.3876953125,
                357.9820556640625
            ],
            "velocity": [
                -4.157602787017822,
                1.0280933380126953,
                -0.24272757768630981
            ],
            "speed_kmh": 15.442931511256882,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2166385650634766,
                "transform": {
                    "location": {
                        "x": -979.5883178710938,
                        "y": 3041.21044921875,
                        "z": 361.2682800292969
                    },
                    "rotation": {
                        "roll": -0.03161618858575821,
                        "pitch": -3.1589622497558594,
                        "yaw": 165.96188354492188
                    }
                },
                "velocity": {
                    "x": -2.1470439434051514,
                    "y": 0.5351865291595459,
                    "z": -0.13139550387859344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.437647342681885,
                "transform": {
                    "location": {
                        "x": -995.3978881835938,
                        "y": 3044.94140625,
                        "z": 360.3121032714844
                    },
                    "rotation": {
                        "roll": -0.023406988009810448,
                        "pitch": -3.1044232845306396,
                        "yaw": 168.1630859375
                    }
                },
                "velocity": {
                    "x": -5.310912132263184,
                    "y": 1.1225947141647339,
                    "z": -0.3193739950656891
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.289703369140625,
                "transform": {
                    "location": {
                        "x": -1034.7550048828125,
                        "y": 3053.3876953125,
                        "z": 357.9820556640625
                    },
                    "rotation": {
                        "roll": -0.00204469938762486,
                        "pitch": -3.521235466003418,
                        "yaw": 166.3016357421875
                    }
                },
                "velocity": {
                    "x": -4.157602787017822,
                    "y": 1.0280933380126953,
                    "z": -0.24272757768630981
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.383148193359375,
                "transform": {
                    "location": {
                        "x": -1051.1451416015625,
                        "y": 3057.698974609375,
                        "z": 357.04412841796875
                    },
                    "rotation": {
                        "roll": -0.0021972854156047106,
                        "pitch": -2.8055341243743896,
                        "yaw": 164.30999755859375
                    }
                },
                "velocity": {
                    "x": -5.176353454589844,
                    "y": 1.454696774482727,
                    "z": -0.25982093811035156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4224506914615631,
        "expert_target_speed": 6.082162815688495,
        "target_point": [
            37.48088798298415,
            0.20074667950445058
        ],
        "target_point_next": [
            59.43344801663342,
            -1.1923529240763049
        ]
    },
    "115": {
        "acceleration": [
            -2.50335693359375,
            0.5106163024902344,
            -0.15599310398101807
        ],
        "angular_velocity": [
            0.09997894614934921,
            0.15522688627243042,
            -1.0531400442123413
        ],
        "forward_vector": [
            -0.9733261466026306,
            0.22183334827423096,
            -0.058533091098070145
        ],
        "right_vector": [
            -0.22213008999824524,
            -0.9750158786773682,
            -0.0014694881392642856
        ],
        "location": [
            -1012.1564331054688,
            3048.845458984375,
            359.29144287109375
        ],
        "rotation": [
            0.08434010297060013,
            -3.355617046356201,
            167.16087341308594
        ],
        "velocity": [
            -4.97617244720459,
            1.1193653345108032,
            -0.3005978763103485
        ],
        "speed": 5.100516736216302,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.18030548095703,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1035.81494140625,
                3053.6494140625,
                357.9188232421875
            ],
            "velocity": [
                -4.607175350189209,
                1.1414167881011963,
                -0.26603421568870544
            ],
            "speed_kmh": 17.114080129918104,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3684253692626953,
                "transform": {
                    "location": {
                        "x": -980.2626342773438,
                        "y": 3041.378662109375,
                        "z": 361.22650146484375
                    },
                    "rotation": {
                        "roll": -0.026641845703125,
                        "pitch": -3.0245578289031982,
                        "yaw": 165.99951171875
                    }
                },
                "velocity": {
                    "x": -3.2629876136779785,
                    "y": 0.8122515082359314,
                    "z": -0.19861625134944916
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7850823402404785,
                "transform": {
                    "location": {
                        "x": -996.7699584960938,
                        "y": 3045.232177734375,
                        "z": 360.22906494140625
                    },
                    "rotation": {
                        "roll": 0.002685744548216462,
                        "pitch": -3.2758474349975586,
                        "yaw": 168.0609130859375
                    }
                },
                "velocity": {
                    "x": -5.649291038513184,
                    "y": 1.1982479095458984,
                    "z": -0.3418915867805481
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.753911018371582,
                "transform": {
                    "location": {
                        "x": -1035.81494140625,
                        "y": 3053.6494140625,
                        "z": 357.9188232421875
                    },
                    "rotation": {
                        "roll": -0.012298572808504105,
                        "pitch": -3.285491466522217,
                        "yaw": 166.21023559570312
                    }
                },
                "velocity": {
                    "x": -4.607175350189209,
                    "y": 1.1414167881011963,
                    "z": -0.26603421568870544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.27385139465332,
                "transform": {
                    "location": {
                        "x": -1052.404541015625,
                        "y": 3058.0556640625,
                        "z": 356.98101806640625
                    },
                    "rotation": {
                        "roll": -0.0035400378983467817,
                        "pitch": -2.7694640159606934,
                        "yaw": 164.17071533203125
                    }
                },
                "velocity": {
                    "x": -5.062721252441406,
                    "y": 1.455467700958252,
                    "z": -0.2529294490814209
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4374919533729553,
        "expert_target_speed": 6.200223525867842,
        "target_point": [
            36.22494828969414,
            0.13634103430387245
        ],
        "target_point_next": [
            58.17516231012004,
            -1.2932473658906432
        ]
    },
    "120": {
        "acceleration": [
            0.8562278747558594,
            -0.20766258239746094,
            0.06275415420532227
        ],
        "angular_velocity": [
            0.12516270577907562,
            -0.4475727081298828,
            -2.994941234588623
        ],
        "forward_vector": [
            -0.9737129807472229,
            0.2198500782251358,
            -0.05957411602139473
        ],
        "right_vector": [
            -0.22016920149326324,
            -0.9754608869552612,
            -0.0012346918229013681
        ],
        "location": [
            -1013.3871459960938,
            3049.12060546875,
            359.21734619140625
        ],
        "rotation": [
            0.07086852192878723,
            -3.415367603302002,
            167.27679443359375
        ],
        "velocity": [
            -4.873790264129639,
            1.0799819231033325,
            -0.2933026850223541
        ],
        "speed": 4.992012869870712,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.20615577697754,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1037.0653076171875,
                3053.958251953125,
                357.8462829589844
            ],
            "velocity": [
                -5.0266008377075195,
                1.2455620765686035,
                -0.2863406538963318
            ],
            "speed_kmh": 18.67152132592277,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.797311305999756,
                "transform": {
                    "location": {
                        "x": -981.26318359375,
                        "y": 3041.62841796875,
                        "z": 361.1649475097656
                    },
                    "rotation": {
                        "roll": -0.01095577608793974,
                        "pitch": -2.8885414600372314,
                        "yaw": 165.99659729003906
                    }
                },
                "velocity": {
                    "x": -4.646885395050049,
                    "y": 1.1573076248168945,
                    "z": -0.28511282801628113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.741034507751465,
                "transform": {
                    "location": {
                        "x": -998.37646484375,
                        "y": 3045.57275390625,
                        "z": 360.1319580078125
                    },
                    "rotation": {
                        "roll": -0.01004030555486679,
                        "pitch": -3.0478146076202393,
                        "yaw": 167.99887084960938
                    }
                },
                "velocity": {
                    "x": -7.564523220062256,
                    "y": 1.578635573387146,
                    "z": -0.4577237665653229
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.186533451080322,
                "transform": {
                    "location": {
                        "x": -1037.0653076171875,
                        "y": 3053.958251953125,
                        "z": 357.8462829589844
                    },
                    "rotation": {
                        "roll": -0.010986345820128918,
                        "pitch": -3.161038637161255,
                        "yaw": 166.14382934570312
                    }
                },
                "velocity": {
                    "x": -5.0266008377075195,
                    "y": 1.2455620765686035,
                    "z": -0.2863406538963318
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.057165622711182,
                "transform": {
                    "location": {
                        "x": -1053.7552490234375,
                        "y": 3058.443603515625,
                        "z": 356.91302490234375
                    },
                    "rotation": {
                        "roll": 0.0027315218467265368,
                        "pitch": -2.6952130794525146,
                        "yaw": 163.95217895507812
                    }
                },
                "velocity": {
                    "x": -5.8111772537231445,
                    "y": 1.6848548650741577,
                    "z": -0.28414779901504517
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4718630313873291,
        "expert_target_speed": 6.097211204192746,
        "target_point": [
            34.964058091448116,
            0.06040387992656182
        ],
        "target_point_next": [
            56.91133551906776,
            -1.4135812121179985
        ]
    },
    "125": {
        "acceleration": [
            0.5320549011230469,
            -0.18792152404785156,
            0.037760138511657715
        ],
        "angular_velocity": [
            -0.10566910356283188,
            -0.22092333436012268,
            1.1529093980789185
        ],
        "forward_vector": [
            -0.974571704864502,
            0.2159358114004135,
            -0.05984804034233093
        ],
        "right_vector": [
            -0.21628475189208984,
            -0.9763301014900208,
            -0.0006625042296946049
        ],
        "location": [
            -1014.6292724609375,
            3049.393798828125,
            359.1426086425781
        ],
        "rotation": [
            0.03802686184644699,
            -3.4310905933380127,
            167.50680541992188
        ],
        "velocity": [
            -4.910806655883789,
            1.069718599319458,
            -0.2952154576778412
        ],
        "speed": 5.025964573412999,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.3198299407959,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1038.4095458984375,
                3054.299560546875,
                357.7691955566406
            ],
            "velocity": [
                -5.77627420425415,
                1.4860283136367798,
                -0.32911306619644165
            ],
            "speed_kmh": 21.5043700809013,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.417931079864502,
                "transform": {
                    "location": {
                        "x": -982.5392456054688,
                        "y": 3041.946533203125,
                        "z": 361.0877990722656
                    },
                    "rotation": {
                        "roll": -0.0037536765448749065,
                        "pitch": -3.026914358139038,
                        "yaw": 165.98941040039062
                    }
                },
                "velocity": {
                    "x": -5.247894287109375,
                    "y": 1.3080332279205322,
                    "z": -0.3203605115413666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.236268043518066,
                "transform": {
                    "location": {
                        "x": -1000.2510986328125,
                        "y": 3045.96044921875,
                        "z": 360.0185546875
                    },
                    "rotation": {
                        "roll": 3.3355376217514277e-05,
                        "pitch": -3.3854308128356934,
                        "yaw": 168.28366088867188
                    }
                },
                "velocity": {
                    "x": -7.076035499572754,
                    "y": 1.4530740976333618,
                    "z": -0.4264672100543976
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.973435878753662,
                "transform": {
                    "location": {
                        "x": -1038.4095458984375,
                        "y": 3054.299560546875,
                        "z": 357.7691955566406
                    },
                    "rotation": {
                        "roll": -0.00497438246384263,
                        "pitch": -3.0847387313842773,
                        "yaw": 165.89292907714844
                    }
                },
                "velocity": {
                    "x": -5.77627420425415,
                    "y": 1.4860283136367798,
                    "z": -0.32911306619644165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.4618682861328125,
                "transform": {
                    "location": {
                        "x": -1055.30859375,
                        "y": 3058.893798828125,
                        "z": 356.83697509765625
                    },
                    "rotation": {
                        "roll": -0.005218502599745989,
                        "pitch": -2.667475700378418,
                        "yaw": 163.82220458984375
                    }
                },
                "velocity": {
                    "x": -6.1974382400512695,
                    "y": 1.8041986227035522,
                    "z": -0.3039195239543915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4707404673099518,
        "expert_target_speed": 6.13698084583023,
        "target_point": [
            33.692205582606334,
            -0.08195163546070372
        ],
        "target_point_next": [
            55.63338812731861,
            -1.6440422461762019
        ]
    },
    "130": {
        "acceleration": [
            0.6163787841796875,
            -0.15491008758544922,
            0.02439439296722412
        ],
        "angular_velocity": [
            -0.06994932889938354,
            -0.0900956317782402,
            0.3567095994949341
        ],
        "forward_vector": [
            -0.9753892421722412,
            0.21262182295322418,
            -0.058376241475343704
        ],
        "right_vector": [
            -0.21296276152133942,
            -0.9770602583885193,
            -0.0003895633271895349
        ],
        "location": [
            -1015.8888549804688,
            3049.667236328125,
            359.0665588378906
        ],
        "rotation": [
            0.02235846407711506,
            -3.3466148376464844,
            167.70266723632812
        ],
        "velocity": [
            -5.167769432067871,
            1.114098072052002,
            -0.3117621839046478
        ],
        "speed": 5.286497462135499,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.74169158935547,
        "front_vehicle_info": {
            "id": 5385,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1040.068115234375,
                3054.724609375,
                357.674560546875
            ],
            "velocity": [
                -7.854574203491211,
                2.024376630783081,
                -0.43647482991218567
            ],
            "speed_kmh": 29.24275965642949,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.805441379547119,
                "transform": {
                    "location": {
                        "x": -983.9854736328125,
                        "y": 3042.30419921875,
                        "z": 360.99908447265625
                    },
                    "rotation": {
                        "roll": -0.04345704987645149,
                        "pitch": -2.9433536529541016,
                        "yaw": 166.1194305419922
                    }
                },
                "velocity": {
                    "x": -6.602707862854004,
                    "y": 1.5985174179077148,
                    "z": -0.403755784034729
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3758389949798584,
                "transform": {
                    "location": {
                        "x": -1001.5317993164062,
                        "y": 3046.22265625,
                        "z": 359.94073486328125
                    },
                    "rotation": {
                        "roll": 0.007641982287168503,
                        "pitch": -4.192711353302002,
                        "yaw": 168.40792846679688
                    }
                },
                "velocity": {
                    "x": -2.3234822750091553,
                    "y": 0.4752393364906311,
                    "z": -0.1420867145061493
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5385,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.1229887008667,
                "transform": {
                    "location": {
                        "x": -1040.068115234375,
                        "y": 3054.724609375,
                        "z": 357.674560546875
                    },
                    "rotation": {
                        "roll": -0.0007324134930968285,
                        "pitch": -2.907775402069092,
                        "yaw": 165.6724395751953
                    }
                },
                "velocity": {
                    "x": -7.854574203491211,
                    "y": 2.024376630783081,
                    "z": -0.43647482991218567
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5384,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.703913688659668,
                "transform": {
                    "location": {
                        "x": -1056.7691650390625,
                        "y": 3059.319091796875,
                        "z": 356.76666259765625
                    },
                    "rotation": {
                        "roll": -0.005737295374274254,
                        "pitch": -2.659538984298706,
                        "yaw": 163.72996520996094
                    }
                },
                "velocity": {
                    "x": -5.466736793518066,
                    "y": 1.6068445444107056,
                    "z": -0.2597522735595703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.47156739234924316,
        "expert_target_speed": 6.410697265633286,
        "target_point": [
            32.40280850004425,
            -0.19823340179001203
        ],
        "target_point_next": [
            54.3385229337177,
            -1.835319477964152
        ]
    },
    "135": {
        "acceleration": [
            -0.02841949462890625,
            0.005505084991455078,
            0.014176368713378906
        ],
        "angular_velocity": [
            -0.11420971900224686,
            -0.09945141524076462,
            0.5740218758583069
        ],
        "forward_vector": [
            -0.9757471084594727,
            0.2106834203004837,
            -0.05941477045416832
        ],
        "right_vector": [
            -0.21104192733764648,
            -0.977476954460144,
            -0.0002463953278493136
        ],
        "location": [
            -1017.1707763671875,
            3049.943115234375,
            358.9896545410156
        ],
        "rotation": [
            0.014142397791147232,
            -3.406221866607666,
            167.81573486328125
        ],
        "velocity": [
            -5.120584487915039,
            1.0997231006622314,
            -0.3086211085319519
        ],
        "speed": 5.237344403035404,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4248012900352478,
                "transform": {
                    "location": {
                        "x": -1040.4720458984375,
                        "y": 3074.650146484375,
                        "z": 356.44073486328125
                    },
                    "rotation": {
                        "roll": 0.00060015928465873,
                        "pitch": -0.5546864867210388,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.004292091820389032,
                    "y": -0.0001904011151054874,
                    "z": -0.4247795641422272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5396,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.3004150390625,
                        "y": 3081.069091796875,
                        "z": 346.09869384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.139892578125,
                        "y": 3079.713623046875,
                        "z": 347.7464294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.4635009765625,
                        "y": 3079.050537109375,
                        "z": 349.1622619628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.40185546875,
                        "y": 3078.37890625,
                        "z": 350.7492370605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.163330078125,
                        "y": 3077.34619140625,
                        "z": 352.9612731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1119.84375,
                        "y": 3076.42333984375,
                        "z": 354.5241394042969
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.8468017578125,
                        "y": 3075.88671875,
                        "z": 355.3347473144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43670082092285156,
                "transform": {
                    "location": {
                        "x": -1062.528076171875,
                        "y": 3075.14306640625,
                        "z": 356.1182861328125
                    },
                    "rotation": {
                        "roll": 0.00025399349397048354,
                        "pitch": -1.098724603652954,
                        "yaw": 178.72018432617188
                    }
                },
                "velocity": {
                    "x": 0.007815794087946415,
                    "y": -0.0001877999457065016,
                    "z": -0.43663081526756287
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.169517517089844,
                "transform": {
                    "location": {
                        "x": -985.8362426757812,
                        "y": 3042.75048828125,
                        "z": 360.88592529296875
                    },
                    "rotation": {
                        "roll": -0.03717043995857239,
                        "pitch": -2.832001209259033,
                        "yaw": 166.43365478515625
                    }
                },
                "velocity": {
                    "x": -7.931288719177246,
                    "y": 1.8981781005859375,
                    "z": -0.48227986693382263
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7860938310623169,
                "transform": {
                    "location": {
                        "x": -1001.6779174804688,
                        "y": 3046.253173828125,
                        "z": 359.93194580078125
                    },
                    "rotation": {
                        "roll": 0.010689916089177132,
                        "pitch": -3.896390438079834,
                        "yaw": 168.46127319335938
                    }
                },
                "velocity": {
                    "x": -0.7681332230567932,
                    "y": 0.16090331971645355,
                    "z": -0.04500020295381546
                },
                "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": 0.47704634070396423,
        "expert_target_speed": 20.0,
        "target_point": [
            31.091083590745967,
            -0.26306124639652495
        ],
        "target_point_next": [
            53.023525105119454,
            -1.943426609958566
        ]
    },
    "140": {
        "acceleration": [
            -0.46034812927246094,
            0.08140325546264648,
            -0.00341951847076416
        ],
        "angular_velocity": [
            -0.01158155221492052,
            0.07574362307786942,
            -0.0655120238661766
        ],
        "forward_vector": [
            -0.9759570360183716,
            0.20969834923744202,
            -0.05945083126425743
        ],
        "right_vector": [
            -0.21006180346012115,
            -0.9776880741119385,
            -0.0001392299309372902
        ],
        "location": [
            -1018.4591674804688,
            3050.21923828125,
            358.91204833984375
        ],
        "rotation": [
            0.007991421967744827,
            -3.4082915782928467,
            167.87355041503906
        ],
        "velocity": [
            -5.199631214141846,
            1.1119608879089355,
            -0.3113867938518524
        ],
        "speed": 5.317200558500444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.051900219172239304,
                "transform": {
                    "location": {
                        "x": -1040.471923828125,
                        "y": 3074.650146484375,
                        "z": 356.4317932128906
                    },
                    "rotation": {
                        "roll": -0.0003967286611441523,
                        "pitch": -0.5559090375900269,
                        "yaw": 178.72019958496094
                    }
                },
                "velocity": {
                    "x": -0.0005614850088022649,
                    "y": 9.221234336109774e-07,
                    "z": 0.05189718306064606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5396,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1317.5430908203125,
                        "y": 3081.26953125,
                        "z": 345.9620361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1271.382080078125,
                        "y": 3079.80859375,
                        "z": 347.5412902832031
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.7052001953125,
                        "y": 3079.1455078125,
                        "z": 348.9402770996094
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.6429443359375,
                        "y": 3078.4736328125,
                        "z": 350.50634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.40673828125,
                        "y": 3077.441162109375,
                        "z": 352.7699890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.0718994140625,
                        "y": 3076.51806640625,
                        "z": 354.2952575683594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.074462890625,
                        "y": 3075.9814453125,
                        "z": 355.14794921875
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02747209183871746,
                "transform": {
                    "location": {
                        "x": -1062.527587890625,
                        "y": 3075.14306640625,
                        "z": 356.09405517578125
                    },
                    "rotation": {
                        "roll": 0.001494610565714538,
                        "pitch": -1.1075423955917358,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0005966824246570468,
                    "y": 9.013916860567406e-05,
                    "z": 0.027465462684631348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.492557525634766,
                "transform": {
                    "location": {
                        "x": -987.7514038085938,
                        "y": 3043.208251953125,
                        "z": 360.77142333984375
                    },
                    "rotation": {
                        "roll": -0.0185241661965847,
                        "pitch": -3.3550639152526855,
                        "yaw": 166.56842041015625
                    }
                },
                "velocity": {
                    "x": -7.275928974151611,
                    "y": 1.7330695390701294,
                    "z": -0.44243085384368896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.216038703918457,
                "transform": {
                    "location": {
                        "x": -1002.067138671875,
                        "y": 3046.33203125,
                        "z": 359.9087829589844
                    },
                    "rotation": {
                        "roll": 0.005936461966484785,
                        "pitch": -3.2891526222229004,
                        "yaw": 168.51876831054688
                    }
                },
                "velocity": {
                    "x": -2.1681175231933594,
                    "y": 0.4393067955970764,
                    "z": -0.13077867031097412
                },
                "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": 0.4801273047924042,
        "expert_target_speed": 20.0,
        "target_point": [
            29.7731547679193,
            -0.2951215635001061
        ],
        "target_point_next": [
            51.70388965083447,
            -1.997615625680762
        ]
    },
    "145": {
        "acceleration": [
            -0.6853866577148438,
            0.1611781120300293,
            -0.0336986780166626
        ],
        "angular_velocity": [
            0.046234507113695145,
            0.15070891380310059,
            0.31594735383987427
        ],
        "forward_vector": [
            -0.9761444926261902,
            0.2089720368385315,
            -0.05892937257885933
        ],
        "right_vector": [
            -0.20933911204338074,
            -0.9778431057929993,
            5.6892629800131544e-05
        ],
        "location": [
            -1019.7779541015625,
            3050.501220703125,
            358.832763671875
        ],
        "rotation": [
            -0.003265382256358862,
            -3.378361701965332,
            167.91656494140625
        ],
        "velocity": [
            -5.351469993591309,
            1.1449402570724487,
            -0.32072874903678894
        ],
        "speed": 5.47257885138015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1935738325119019,
                "transform": {
                    "location": {
                        "x": -1040.5643310546875,
                        "y": 3074.65185546875,
                        "z": 356.43841552734375
                    },
                    "rotation": {
                        "roll": 0.0012113702250644565,
                        "pitch": -0.49703967571258545,
                        "yaw": 178.66758728027344
                    }
                },
                "velocity": {
                    "x": -1.1931604146957397,
                    "y": 0.0304300207644701,
                    "z": 0.0077902027405798435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5396,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1321.7867431640625,
                        "y": 3081.4853515625,
                        "z": 345.8695983886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1275.625244140625,
                        "y": 3079.9033203125,
                        "z": 347.3617248535156
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.946533203125,
                        "y": 3079.240478515625,
                        "z": 348.729248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.883056640625,
                        "y": 3078.568603515625,
                        "z": 350.2741394042969
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.6495361328125,
                        "y": 3077.535888671875,
                        "z": 352.5958251953125
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.3150634765625,
                        "y": 3076.61279296875,
                        "z": 354.13232421875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.318115234375,
                        "y": 3076.076416015625,
                        "z": 355.0010986328125
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9461948871612549,
                "transform": {
                    "location": {
                        "x": -1062.6004638671875,
                        "y": 3075.14453125,
                        "z": 356.0978088378906
                    },
                    "rotation": {
                        "roll": 0.001466601388528943,
                        "pitch": -0.8793321847915649,
                        "yaw": 178.71914672851562
                    }
                },
                "velocity": {
                    "x": -0.9459272027015686,
                    "y": 0.020922422409057617,
                    "z": 0.00829122494906187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.169790267944336,
                "transform": {
                    "location": {
                        "x": -989.353515625,
                        "y": 3043.58251953125,
                        "z": 360.676513671875
                    },
                    "rotation": {
                        "roll": -0.042388949543237686,
                        "pitch": -3.9935293197631836,
                        "yaw": 166.7919464111328
                    }
                },
                "velocity": {
                    "x": -5.031211853027344,
                    "y": 1.1490726470947266,
                    "z": -0.3054048418998718
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.363079309463501,
                "transform": {
                    "location": {
                        "x": -1002.665771484375,
                        "y": 3046.45361328125,
                        "z": 359.8726501464844
                    },
                    "rotation": {
                        "roll": 0.014633039012551308,
                        "pitch": -3.354947805404663,
                        "yaw": 168.52369689941406
                    }
                },
                "velocity": {
                    "x": -2.3120994567871094,
                    "y": 0.46807825565338135,
                    "z": -0.13872084021568298
                },
                "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": 0.4614007771015167,
        "expert_target_speed": 20.0,
        "target_point": [
            28.424328526941,
            -0.31780177665321574
        ],
        "target_point_next": [
            50.35377944027877,
            -2.0367552885266065
        ]
    },
    "150": {
        "acceleration": [
            -0.4874229431152344,
            0.1307392120361328,
            -0.017303824424743652
        ],
        "angular_velocity": [
            0.0543491393327713,
            0.001979734282940626,
            -0.37221193313598633
        ],
        "forward_vector": [
            -0.9761233329772949,
            0.20920579135417938,
            -0.05844859778881073
        ],
        "right_vector": [
            -0.20957057178020477,
            -0.9777935743331909,
            0.00011378898489056155
        ],
        "location": [
            -1021.1399536132812,
            3050.79296875,
            358.7508239746094
        ],
        "rotation": [
            -0.006530793383717537,
            -3.3507676124572754,
            167.9031982421875
        ],
        "velocity": [
            -5.526679515838623,
            1.1865862607955933,
            -0.33221039175987244
        ],
        "speed": 5.652625356867294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4580435752868652,
                "transform": {
                    "location": {
                        "x": -1040.9146728515625,
                        "y": 3074.662109375,
                        "z": 356.4368591308594
                    },
                    "rotation": {
                        "roll": -0.0016479487530887127,
                        "pitch": -0.524223804473877,
                        "yaw": 178.8025360107422
                    }
                },
                "velocity": {
                    "x": -1.4576367139816284,
                    "y": 0.032010458409786224,
                    "z": -0.01270231232047081
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5396,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.029541015625,
                        "y": 3081.71484375,
                        "z": 345.7916259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1279.8677978515625,
                        "y": 3079.998291015625,
                        "z": 347.19110107421875
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1250.1875,
                        "y": 3079.335205078125,
                        "z": 348.5222473144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.123046875,
                        "y": 3078.663330078125,
                        "z": 350.0464782714844
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.8917236328125,
                        "y": 3077.630859375,
                        "z": 352.4157409667969
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.55859375,
                        "y": 3076.70751953125,
                        "z": 353.9770202636719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.5616455078125,
                        "y": 3076.171142578125,
                        "z": 354.85162353515625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.882572889328003,
                "transform": {
                    "location": {
                        "x": -1062.9678955078125,
                        "y": 3075.15283203125,
                        "z": 356.0948486328125
                    },
                    "rotation": {
                        "roll": 0.002329020295292139,
                        "pitch": -0.725243091583252,
                        "yaw": 178.6788787841797
                    }
                },
                "velocity": {
                    "x": -1.8819234371185303,
                    "y": 0.042454469949007034,
                    "z": -0.025346312671899796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6607164144515991,
                "transform": {
                    "location": {
                        "x": -990.1549682617188,
                        "y": 3043.76220703125,
                        "z": 360.6302185058594
                    },
                    "rotation": {
                        "roll": 0.022508814930915833,
                        "pitch": -4.702024936676025,
                        "yaw": 165.59950256347656
                    }
                },
                "velocity": {
                    "x": -1.6128973960876465,
                    "y": 0.3832935392856598,
                    "z": -0.09811650216579437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.877922534942627,
                "transform": {
                    "location": {
                        "x": -1003.281005859375,
                        "y": 3046.576904296875,
                        "z": 359.8356018066406
                    },
                    "rotation": {
                        "roll": 0.013918804004788399,
                        "pitch": -3.330256700515747,
                        "yaw": 168.57772827148438
                    }
                },
                "velocity": {
                    "x": -2.8170275688171387,
                    "y": 0.56374192237854,
                    "z": -0.17025981843471527
                },
                "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": 0.45552340149879456,
        "expert_target_speed": 20.0,
        "target_point": [
            27.031505600390812,
            -0.31134269515676927
        ],
        "target_point_next": [
            48.96135591453351,
            -2.0251932533349617
        ]
    },
    "155": {
        "acceleration": [
            -3.0437088012695312,
            0.6677556037902832,
            -0.18357694149017334
        ],
        "angular_velocity": [
            0.02299477718770504,
            0.47816336154937744,
            -0.19769525527954102
        ],
        "forward_vector": [
            -0.9762179255485535,
            0.20984888076782227,
            -0.05442396178841591
        ],
        "right_vector": [
            -0.21017085015773773,
            -0.9776646494865417,
            0.0001967819407582283
        ],
        "location": [
            -1022.6510009765625,
            3051.1181640625,
            358.6590576171875
        ],
        "rotation": [
            -0.011291509494185448,
            -3.119804859161377,
            167.86825561523438
        ],
        "velocity": [
            -6.5390305519104,
            1.4083008766174316,
            -0.39268758893013
        ],
        "speed": 6.6889634412141215,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1962475776672363,
                "transform": {
                    "location": {
                        "x": -1041.53515625,
                        "y": 3074.675537109375,
                        "z": 356.4298400878906
                    },
                    "rotation": {
                        "roll": -0.004150390159338713,
                        "pitch": -0.5089446902275085,
                        "yaw": 178.86288452148438
                    }
                },
                "velocity": {
                    "x": -3.1952714920043945,
                    "y": 0.06852766871452332,
                    "z": -0.03927963599562645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5396,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1330.2718505859375,
                        "y": 3081.962158203125,
                        "z": 345.7298278808594
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.1097412109375,
                        "y": 3080.0927734375,
                        "z": 347.02642822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1254.427734375,
                        "y": 3079.429931640625,
                        "z": 348.316162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1224.3621826171875,
                        "y": 3078.75830078125,
                        "z": 349.8224182128906
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.1326904296875,
                        "y": 3077.7255859375,
                        "z": 352.2284240722656
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.8009033203125,
                        "y": 3076.8017578125,
                        "z": 353.8222961425781
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.8040771484375,
                        "y": 3076.26611328125,
                        "z": 354.69720458984375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1012861728668213,
                "transform": {
                    "location": {
                        "x": -1063.5872802734375,
                        "y": 3075.166748046875,
                        "z": 356.0841979980469
                    },
                    "rotation": {
                        "roll": 0.00046362500870600343,
                        "pitch": -0.6482190489768982,
                        "yaw": 178.6891326904297
                    }
                },
                "velocity": {
                    "x": -3.0999903678894043,
                    "y": 0.07019666582345963,
                    "z": -0.05574755370616913
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9635554552078247,
                "transform": {
                    "location": {
                        "x": -990.3024291992188,
                        "y": 3043.79638671875,
                        "z": 360.61968994140625
                    },
                    "rotation": {
                        "roll": 0.06464734673500061,
                        "pitch": -4.287446022033691,
                        "yaw": 165.64669799804688
                    }
                },
                "velocity": {
                    "x": -0.9375566840171814,
                    "y": 0.21520143747329712,
                    "z": -0.05581162869930267
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.406903028488159,
                "transform": {
                    "location": {
                        "x": -1004.0942993164062,
                        "y": 3046.739501953125,
                        "z": 359.7865295410156
                    },
                    "rotation": {
                        "roll": 0.015694797039031982,
                        "pitch": -3.296508550643921,
                        "yaw": 168.62794494628906
                    }
                },
                "velocity": {
                    "x": -3.3349194526672363,
                    "y": 0.6667062044143677,
                    "z": -0.20199711620807648
                },
                "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": 0.43649378418922424,
        "expert_target_speed": 20.0,
        "target_point": [
            25.486046255177104,
            -0.29448499794299643
        ],
        "target_point_next": [
            47.416937725020574,
            -1.9949607767822304
        ]
    },
    "160": {
        "acceleration": [
            -1.699075698852539,
            0.4242897033691406,
            -0.08967101573944092
        ],
        "angular_velocity": [
            0.007767918985337019,
            -0.2979762852191925,
            -0.461577445268631
        ],
        "forward_vector": [
            -0.9760537147521973,
            0.21048660576343536,
            -0.05490484833717346
        ],
        "right_vector": [
            -0.21082685887813568,
            -0.9775233268737793,
            0.0004148264415562153
        ],
        "location": [
            -1024.357177734375,
            3051.48583984375,
            358.55657958984375
        ],
        "rotation": [
            -0.02380370907485485,
            -3.1473987102508545,
            167.8304901123047
        ],
        "velocity": [
            -7.0501885414123535,
            1.525421142578125,
            -0.4245571792125702
        ],
        "speed": 7.213325733091942,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.183815002441406,
                "transform": {
                    "location": {
                        "x": -1042.4461669921875,
                        "y": 3074.69482421875,
                        "z": 356.4192199707031
                    },
                    "rotation": {
                        "roll": -0.00012207064719405025,
                        "pitch": -0.588803231716156,
                        "yaw": 178.7379608154297
                    }
                },
                "velocity": {
                    "x": -4.182506084442139,
                    "y": 0.09122924506664276,
                    "z": -0.051268596202135086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.353759765625,
                        "y": 3080.193359375,
                        "z": 346.8699035644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1258.669189453125,
                        "y": 3079.524658203125,
                        "z": 348.11285400390625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.601806640625,
                        "y": 3078.85302734375,
                        "z": 349.60162353515625
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1182.372802734375,
                        "y": 3077.81982421875,
                        "z": 352.0337829589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.042724609375,
                        "y": 3076.896728515625,
                        "z": 353.6676025390625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1117.0484619140625,
                        "y": 3076.36083984375,
                        "z": 354.54248046875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.527421951293945,
                "transform": {
                    "location": {
                        "x": -1064.5543212890625,
                        "y": 3075.188720703125,
                        "z": 356.0657043457031
                    },
                    "rotation": {
                        "roll": -0.00027465791208669543,
                        "pitch": -0.5469956994056702,
                        "yaw": 178.70013427734375
                    }
                },
                "velocity": {
                    "x": -4.5254621505737305,
                    "y": 0.10108639299869537,
                    "z": -0.0867401510477066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9959529638290405,
                "transform": {
                    "location": {
                        "x": -990.684326171875,
                        "y": 3043.885986328125,
                        "z": 360.5933837890625
                    },
                    "rotation": {
                        "roll": 0.04610457643866539,
                        "pitch": -3.4335291385650635,
                        "yaw": 165.96044921875
                    }
                },
                "velocity": {
                    "x": -1.9416812658309937,
                    "y": 0.4467165768146515,
                    "z": -0.11893843114376068
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6828153133392334,
                "transform": {
                    "location": {
                        "x": -1004.9208984375,
                        "y": 3046.904541015625,
                        "z": 359.73663330078125
                    },
                    "rotation": {
                        "roll": 0.015414770692586899,
                        "pitch": -3.3373396396636963,
                        "yaw": 168.66282653808594
                    }
                },
                "velocity": {
                    "x": -3.6052393913269043,
                    "y": 0.7197521328926086,
                    "z": -0.2175629436969757
                },
                "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": 0.37007009983062744,
        "expert_target_speed": 20.0,
        "target_point": [
            23.74089124113508,
            -0.2779334838340759
        ],
        "target_point_next": [
            45.67289934768104,
            -1.9639462212932326
        ]
    },
    "165": {
        "acceleration": [
            -1.5173149108886719,
            0.49576759338378906,
            -0.09571194648742676
        ],
        "angular_velocity": [
            -0.018720567226409912,
            -0.18612639605998993,
            -0.8727039098739624
        ],
        "forward_vector": [
            -0.97528475522995,
            0.21371732652187347,
            -0.0560765378177166
        ],
        "right_vector": [
            -0.21404817700386047,
            -0.976823091506958,
            -0.00010875751468120143
        ],
        "location": [
            -1026.169921875,
            3051.8828125,
            358.4476013183594
        ],
        "rotation": [
            0.006241166964173317,
            -3.214635133743286,
            167.63995361328125
        ],
        "velocity": [
            -7.4365715980529785,
            1.6500314474105835,
            -0.448066771030426
        ],
        "speed": 7.617427447006771,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.35448694229126,
                "transform": {
                    "location": {
                        "x": -1043.6883544921875,
                        "y": 3074.72216796875,
                        "z": 356.4046936035156
                    },
                    "rotation": {
                        "roll": 0.0021901640575379133,
                        "pitch": -0.6944594383239746,
                        "yaw": 178.6712188720703
                    }
                },
                "velocity": {
                    "x": -5.352682590484619,
                    "y": 0.1220395416021347,
                    "z": -0.06651879101991653
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1292.599365234375,
                        "y": 3080.30615234375,
                        "z": 346.7197570800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.9132080078125,
                        "y": 3079.61962890625,
                        "z": 347.9154357910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.8446044921875,
                        "y": 3078.94775390625,
                        "z": 349.3835754394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.61669921875,
                        "y": 3077.91455078125,
                        "z": 351.8304138183594
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.2874755859375,
                        "y": 3076.991455078125,
                        "z": 353.5128173828125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1121.29248046875,
                        "y": 3076.45556640625,
                        "z": 354.38775634765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.360079765319824,
                "transform": {
                    "location": {
                        "x": -1065.8319091796875,
                        "y": 3075.217041015625,
                        "z": 356.0411682128906
                    },
                    "rotation": {
                        "roll": 0.001447382033802569,
                        "pitch": -0.6558825373649597,
                        "yaw": 178.66517639160156
                    }
                },
                "velocity": {
                    "x": -5.357648849487305,
                    "y": 0.11984505504369736,
                    "z": -0.10812954604625702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1948330402374268,
                "transform": {
                    "location": {
                        "x": -991.2366333007812,
                        "y": 3044.013671875,
                        "z": 360.559326171875
                    },
                    "rotation": {
                        "roll": 0.03755113482475281,
                        "pitch": -3.334101915359497,
                        "yaw": 166.30148315429688
                    }
                },
                "velocity": {
                    "x": -2.1361196041107178,
                    "y": 0.48727643489837646,
                    "z": -0.12979555130004883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.002188205718994,
                "transform": {
                    "location": {
                        "x": -1005.9970703125,
                        "y": 3047.119384765625,
                        "z": 359.6720275878906
                    },
                    "rotation": {
                        "roll": 0.010896116495132446,
                        "pitch": -3.179527997970581,
                        "yaw": 168.6940155029297
                    }
                },
                "velocity": {
                    "x": -4.89714241027832,
                    "y": 0.9763951897621155,
                    "z": -0.2941691279411316
                },
                "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": 0.3517780303955078,
        "expert_target_speed": 20.0,
        "target_point": [
            21.885982593701208,
            -0.19923575914963365
        ],
        "target_point_next": [
            43.823476192143744,
            -1.8123052414613596
        ]
    },
    "170": {
        "acceleration": [
            -1.5285205841064453,
            0.5336618423461914,
            -0.09786248207092285
        ],
        "angular_velocity": [
            0.17944808304309845,
            -0.09831224381923676,
            -1.41476309299469
        ],
        "forward_vector": [
            -0.9741707444190979,
            0.21864740550518036,
            -0.05643264576792717
        ],
        "right_vector": [
            -0.21896757185459137,
            -0.9757319688796997,
            -0.000521934125572443
        ],
        "location": [
            -1028.078857421875,
            3052.310302734375,
            358.33258056640625
        ],
        "rotation": [
            0.02995235286653042,
            -3.2350711822509766,
            167.34991455078125
        ],
        "velocity": [
            -7.819510459899902,
            1.7760977745056152,
            -0.4723486304283142
        ],
        "speed": 8.018682381606581,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 150.48907470703125,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1171.1739501953125,
                3098.574951171875,
                352.8246765136719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.90765380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1026.193359375,
                        "y": 3081.3330078125,
                        "z": 356.90765380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.2523193359375,
                        "y": 3095.075927734375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.1739501953125,
                        "y": 3098.574951171875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0958251953125,
                        "y": 3102.073974609375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0177001953125,
                        "y": 3105.572998046875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1384.7242431640625,
                        "y": 3086.466796875,
                        "z": 345.7626953125
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78515625,
                        "y": 3088.156494140625,
                        "z": 345.9866027832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1384.357421875,
                        "y": 3089.947509765625,
                        "z": 345.7625427246094
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.3740234375,
                        "y": 3091.632080078125,
                        "z": 345.9864501953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1383.990478515625,
                        "y": 3093.427978515625,
                        "z": 345.76239013671875
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1398.963134765625,
                        "y": 3095.108154296875,
                        "z": 345.98626708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.685020923614502,
                "transform": {
                    "location": {
                        "x": -1045.3275146484375,
                        "y": 3074.7587890625,
                        "z": 356.38238525390625
                    },
                    "rotation": {
                        "roll": 0.0011934909271076322,
                        "pitch": -0.637359082698822,
                        "yaw": 178.68841552734375
                    }
                },
                "velocity": {
                    "x": -7.682384490966797,
                    "y": 0.17255809903144836,
                    "z": -0.10362919420003891
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1296.844970703125,
                        "y": 3080.433349609375,
                        "z": 346.5751953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.1571044921875,
                        "y": 3079.71435546875,
                        "z": 347.7242431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.08740234375,
                        "y": 3079.042724609375,
                        "z": 349.1683654785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.8597412109375,
                        "y": 3078.00927734375,
                        "z": 351.6204528808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.5323486328125,
                        "y": 3077.08642578125,
                        "z": 353.3580322265625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.5379638671875,
                        "y": 3076.550537109375,
                        "z": 354.23291015625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.497347354888916,
                "transform": {
                    "location": {
                        "x": -1067.2451171875,
                        "y": 3075.2490234375,
                        "z": 356.0126037597656
                    },
                    "rotation": {
                        "roll": -0.004150390159338713,
                        "pitch": -0.7504875063896179,
                        "yaw": 178.7550048828125
                    }
                },
                "velocity": {
                    "x": -6.494409084320068,
                    "y": 0.14333780109882355,
                    "z": -0.13277088105678558
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6366257667541504,
                "transform": {
                    "location": {
                        "x": -991.3976440429688,
                        "y": 3044.05126953125,
                        "z": 360.5514221191406
                    },
                    "rotation": {
                        "roll": 0.06438977271318436,
                        "pitch": -3.871610641479492,
                        "yaw": 166.3503875732422
                    }
                },
                "velocity": {
                    "x": -0.6194637417793274,
                    "y": 0.14200884103775024,
                    "z": -0.03728907182812691
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.974867820739746,
                "transform": {
                    "location": {
                        "x": -1007.1976318359375,
                        "y": 3047.358642578125,
                        "z": 359.5997314453125
                    },
                    "rotation": {
                        "roll": 0.011697945185005665,
                        "pitch": -3.335481643676758,
                        "yaw": 168.7146759033203
                    }
                },
                "velocity": {
                    "x": -4.870535850524902,
                    "y": 0.9703896045684814,
                    "z": -0.29245761036872864
                },
                "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": 0.33245760202407837,
        "expert_target_speed": 20.0,
        "target_point": [
            19.930494496772546,
            -0.08938011342428354
        ],
        "target_point_next": [
            41.8758725123204,
            -1.5913795445764354
        ]
    },
    "175": {
        "acceleration": [
            -1.4582633972167969,
            0.581049919128418,
            -0.1011735200881958
        ],
        "angular_velocity": [
            0.1734614372253418,
            0.04255799204111099,
            -1.454048752784729
        ],
        "forward_vector": [
            -0.9726937413215637,
            0.22511988878250122,
            -0.056460972875356674
        ],
        "right_vector": [
            -0.22542153298854828,
            -0.9742607474327087,
            -0.0010513042798265815
        ],
        "location": [
            -1030.082763671875,
            3052.7724609375,
            358.21185302734375
        ],
        "rotation": [
            0.0603315569460392,
            -3.236696720123291,
            166.9689178466797
        ],
        "velocity": [
            -8.192583084106445,
            1.923403024673462,
            -0.4931267499923706
        ],
        "speed": 8.415336997726834,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 146.46670532226562,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1169.1063232421875,
                3098.529052734375,
                352.6190185546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4091937839984894,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.52166748046875
                    },
                    "rotation": {
                        "roll": 0.0014644564362242818,
                        "pitch": -0.309202641248703,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": 0.0018321207026019692,
                    "y": 7.230543269542977e-05,
                    "z": -0.4091896712779999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4533165395259857,
                "transform": {
                    "location": {
                        "x": -1026.192626953125,
                        "y": 3081.3330078125,
                        "z": 356.5117492675781
                    },
                    "rotation": {
                        "roll": -0.00042724571540020406,
                        "pitch": -0.2883296012878418,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": 0.00221873982809484,
                    "y": 0.00010580819798633456,
                    "z": -0.45331111550331116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.1846923828125,
                        "y": 3095.029541015625,
                        "z": 352.6190490722656
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.1063232421875,
                        "y": 3098.529052734375,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.0281982421875,
                        "y": 3102.028076171875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.9500732421875,
                        "y": 3105.52685546875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.9527587890625,
                        "y": 3086.59716796875,
                        "z": 345.6637878417969
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.586181640625,
                        "y": 3090.078125,
                        "z": 345.66326904296875
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1384.8125,
                        "y": 3093.514892578125,
                        "z": 345.6567077636719
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.029556274414062,
                "transform": {
                    "location": {
                        "x": -1047.428466796875,
                        "y": 3074.80615234375,
                        "z": 356.3543701171875
                    },
                    "rotation": {
                        "roll": 0.0004917705082334578,
                        "pitch": -0.6614627838134766,
                        "yaw": 178.71240234375
                    }
                },
                "velocity": {
                    "x": -9.026506423950195,
                    "y": 0.20147345960140228,
                    "z": -0.12033431977033615
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.09033203125,
                        "y": 3080.575927734375,
                        "z": 346.4337158203125
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1271.401611328125,
                        "y": 3079.80859375,
                        "z": 347.5393981933594
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.3306884765625,
                        "y": 3079.137451171875,
                        "z": 348.95611572265625
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.102783203125,
                        "y": 3078.104248046875,
                        "z": 351.4033203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.7779541015625,
                        "y": 3077.18115234375,
                        "z": 353.20318603515625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1129.783447265625,
                        "y": 3076.6455078125,
                        "z": 354.07818603515625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.948108196258545,
                "transform": {
                    "location": {
                        "x": -1069.0628662109375,
                        "y": 3075.2890625,
                        "z": 355.9744873046875
                    },
                    "rotation": {
                        "roll": -0.001251220004633069,
                        "pitch": -0.6177632808685303,
                        "yaw": 178.7322235107422
                    }
                },
                "velocity": {
                    "x": -7.944441795349121,
                    "y": 0.17391009628772736,
                    "z": -0.16740752756595612
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5287091732025146,
                "transform": {
                    "location": {
                        "x": -991.6782836914062,
                        "y": 3044.115478515625,
                        "z": 360.53253173828125
                    },
                    "rotation": {
                        "roll": 0.04363403469324112,
                        "pitch": -3.3551595211029053,
                        "yaw": 166.4333038330078
                    }
                },
                "velocity": {
                    "x": -1.4878425598144531,
                    "y": 0.3393939137458801,
                    "z": -0.08993364870548248
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.236824035644531,
                "transform": {
                    "location": {
                        "x": -1008.4591674804688,
                        "y": 3047.61083984375,
                        "z": 359.5242004394531
                    },
                    "rotation": {
                        "roll": 0.022894343361258507,
                        "pitch": -3.355617046356201,
                        "yaw": 168.5876007080078
                    }
                },
                "velocity": {
                    "x": -5.125499248504639,
                    "y": 1.0287870168685913,
                    "z": -0.3085101544857025
                },
                "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": 0.3186194896697998,
        "expert_target_speed": 20.0,
        "target_point": [
            17.87413952302576,
            0.041566628805164374
        ],
        "target_point_next": [
            39.82901983729941,
            -1.3144750086056387
        ]
    },
    "180": {
        "acceleration": [
            -1.3777351379394531,
            0.5978298187255859,
            -0.020465850830078125
        ],
        "angular_velocity": [
            0.1478995978832245,
            0.20255018770694733,
            -1.9137860536575317
        ],
        "forward_vector": [
            -0.9710121154785156,
            0.23238179087638855,
            -0.055983223021030426
        ],
        "right_vector": [
            -0.23266951739788055,
            -0.9725547432899475,
            -0.0014128945767879486
        ],
        "location": [
            -1032.1768798828125,
            3053.270751953125,
            358.0861511230469
        ],
        "rotation": [
            0.08108007907867432,
            -3.209280252456665,
            166.54115295410156
        ],
        "velocity": [
            -8.539271354675293,
            2.0707457065582275,
            -0.5070304870605469
        ],
        "speed": 8.786759530680657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 142.3276824951172,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1167.0250244140625,
                3098.482177734375,
                352.6941223144531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12769395112991333,
                "transform": {
                    "location": {
                        "x": -1026.270751953125,
                        "y": 3077.834228515625,
                        "z": 356.5383605957031
                    },
                    "rotation": {
                        "roll": 0.0010549644939601421,
                        "pitch": -0.3042576014995575,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": -0.0006019489956088364,
                    "y": -0.00013047808897681534,
                    "z": 0.12769246101379395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.13375873863697052,
                "transform": {
                    "location": {
                        "x": -1026.1927490234375,
                        "y": 3081.3330078125,
                        "z": 356.5274963378906
                    },
                    "rotation": {
                        "roll": 0.00038998821401037276,
                        "pitch": -0.2907133400440216,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0006814175867475569,
                    "y": 9.251104347640648e-05,
                    "z": 0.13375696539878845
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.1033935546875,
                        "y": 3094.982666015625,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.0250244140625,
                        "y": 3098.482177734375,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.9468994140625,
                        "y": 3101.981201171875,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.8687744140625,
                        "y": 3105.47998046875,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.1949462890625,
                        "y": 3086.731689453125,
                        "z": 345.6771545410156
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.828369140625,
                        "y": 3090.21337890625,
                        "z": 345.6767883300781
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.054931640625,
                        "y": 3093.6494140625,
                        "z": 345.6711120605469
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.328339576721191,
                "transform": {
                    "location": {
                        "x": -1049.854248046875,
                        "y": 3074.860595703125,
                        "z": 356.32086181640625
                    },
                    "rotation": {
                        "roll": -0.0004882814828306437,
                        "pitch": -0.7305843234062195,
                        "yaw": 178.7144317626953
                    }
                },
                "velocity": {
                    "x": -10.324455261230469,
                    "y": 0.23182256519794464,
                    "z": -0.16270339488983154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1305.3349609375,
                        "y": 3080.731689453125,
                        "z": 346.2938232421875
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1275.646240234375,
                        "y": 3079.9033203125,
                        "z": 347.3608093261719
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.57421875,
                        "y": 3079.232177734375,
                        "z": 348.7467041015625
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1199.3455810546875,
                        "y": 3078.19921875,
                        "z": 351.1780700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.023193359375,
                        "y": 3077.276123046875,
                        "z": 353.04803466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.0289306640625,
                        "y": 3076.740234375,
                        "z": 353.92333984375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.119558334350586,
                "transform": {
                    "location": {
                        "x": -1071.158935546875,
                        "y": 3075.33544921875,
                        "z": 355.92962646484375
                    },
                    "rotation": {
                        "roll": -0.002716063754633069,
                        "pitch": -0.720858097076416,
                        "yaw": 178.7684783935547
                    }
                },
                "velocity": {
                    "x": -9.11504077911377,
                    "y": 0.2024652063846588,
                    "z": -0.20343011617660522
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6319944858551025,
                "transform": {
                    "location": {
                        "x": -992.1812133789062,
                        "y": 3044.23095703125,
                        "z": 360.50103759765625
                    },
                    "rotation": {
                        "roll": 0.03199723735451698,
                        "pitch": -3.1128790378570557,
                        "yaw": 166.6467742919922
                    }
                },
                "velocity": {
                    "x": -2.5621020793914795,
                    "y": 0.5818883776664734,
                    "z": -0.1563129723072052
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.75419807434082,
                "transform": {
                    "location": {
                        "x": -1009.800537109375,
                        "y": 3047.880859375,
                        "z": 359.4434814453125
                    },
                    "rotation": {
                        "roll": 0.019635269418358803,
                        "pitch": -3.3277225494384766,
                        "yaw": 168.6083984375
                    }
                },
                "velocity": {
                    "x": -5.631590366363525,
                    "y": 1.131799340248108,
                    "z": -0.33913448452949524
                },
                "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": 0.32212263345718384,
        "expert_target_speed": 20.0,
        "target_point": [
            15.720749153538256,
            0.17221883616803924
        ],
        "target_point_next": [
            37.685141496792596,
            -1.0198749219159051
        ]
    },
    "185": {
        "acceleration": [
            -1.3498115539550781,
            0.6262016296386719,
            -0.004285573959350586
        ],
        "angular_velocity": [
            0.14993569254875183,
            0.24291974306106567,
            -1.6160533428192139
        ],
        "forward_vector": [
            -0.9692456722259521,
            0.23986731469631195,
            -0.05501280725002289
        ],
        "right_vector": [
            -0.24013595283031464,
            -0.9707376956939697,
            -0.0017722545890137553
        ],
        "location": [
            -1034.357177734375,
            3053.806884765625,
            357.9569091796875
        ],
        "rotation": [
            0.10169676691293716,
            -3.1535937786102295,
            166.09982299804688
        ],
        "velocity": [
            -8.881401062011719,
            2.2249443531036377,
            -0.5225489139556885
        ],
        "speed": 9.155853985222278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 138.09959411621094,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1164.9437255859375,
                3098.435791015625,
                352.769287109375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5497971773147583,
                "transform": {
                    "location": {
                        "x": -1026.4915771484375,
                        "y": 3077.83642578125,
                        "z": 356.5545654296875
                    },
                    "rotation": {
                        "roll": -0.007171629928052425,
                        "pitch": -0.13440445065498352,
                        "yaw": 178.83250427246094
                    }
                },
                "velocity": {
                    "x": -1.5495855808258057,
                    "y": 0.014950296841561794,
                    "z": 0.020792808383703232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4015170335769653,
                "transform": {
                    "location": {
                        "x": -1026.4197998046875,
                        "y": 3081.334716796875,
                        "z": 356.54437255859375
                    },
                    "rotation": {
                        "roll": -0.002410887973383069,
                        "pitch": -0.23184393346309662,
                        "yaw": 178.77955627441406
                    }
                },
                "velocity": {
                    "x": -1.4013161659240723,
                    "y": 0.010521274991333485,
                    "z": 0.021264057606458664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.0220947265625,
                        "y": 3094.936767578125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.9437255859375,
                        "y": 3098.435791015625,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.8656005859375,
                        "y": 3101.934814453125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.7874755859375,
                        "y": 3105.43408203125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.0230712890625,
                        "y": 3086.82177734375,
                        "z": 345.6860046386719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.656494140625,
                        "y": 3090.303466796875,
                        "z": 345.6858215332031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.883056640625,
                        "y": 3093.7392578125,
                        "z": 345.6804504394531
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.979559898376465,
                "transform": {
                    "location": {
                        "x": -1052.4375,
                        "y": 3074.91796875,
                        "z": 356.2805480957031
                    },
                    "rotation": {
                        "roll": 2.7680873245117255e-05,
                        "pitch": -0.986327052116394,
                        "yaw": 178.7291717529297
                    }
                },
                "velocity": {
                    "x": -9.97565746307373,
                    "y": 0.22122453153133392,
                    "z": -0.17008483409881592
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1309.579345703125,
                        "y": 3080.904541015625,
                        "z": 346.16552734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1279.890625,
                        "y": 3079.998291015625,
                        "z": 347.1901550292969
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1249.8170166015625,
                        "y": 3079.326416015625,
                        "z": 348.54022216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1203.58740234375,
                        "y": 3078.2939453125,
                        "z": 350.9459228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.26806640625,
                        "y": 3077.37109375,
                        "z": 352.88885498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.274169921875,
                        "y": 3076.835205078125,
                        "z": 353.76861572265625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.464131355285645,
                "transform": {
                    "location": {
                        "x": -1073.6297607421875,
                        "y": 3075.389892578125,
                        "z": 355.87408447265625
                    },
                    "rotation": {
                        "roll": -0.00027465797029435635,
                        "pitch": -0.7417243719100952,
                        "yaw": 178.73611450195312
                    }
                },
                "velocity": {
                    "x": -10.45878791809082,
                    "y": 0.2314595729112625,
                    "z": -0.24130116403102875
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.118770599365234,
                "transform": {
                    "location": {
                        "x": -993.009521484375,
                        "y": 3044.419677734375,
                        "z": 360.4498596191406
                    },
                    "rotation": {
                        "roll": 0.021287444978952408,
                        "pitch": -2.9039571285247803,
                        "yaw": 166.89254760742188
                    }
                },
                "velocity": {
                    "x": -4.010279655456543,
                    "y": 0.9066556096076965,
                    "z": -0.24474963545799255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.296718597412109,
                "transform": {
                    "location": {
                        "x": -1011.5233154296875,
                        "y": 3048.2275390625,
                        "z": 359.3401184082031
                    },
                    "rotation": {
                        "roll": 0.012892626225948334,
                        "pitch": -3.165252923965454,
                        "yaw": 168.60789489746094
                    }
                },
                "velocity": {
                    "x": -7.140858173370361,
                    "y": 1.437488079071045,
                    "z": -0.4288082718849182
                },
                "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": 0.30723950266838074,
        "expert_target_speed": 20.0,
        "target_point": [
            13.473711026159984,
            0.2899653530984727
        ],
        "target_point_next": [
            35.4466341616643,
            -0.7329067883207703
        ]
    },
    "190": {
        "acceleration": [
            -1.3504791259765625,
            0.6547832489013672,
            -0.038604736328125
        ],
        "angular_velocity": [
            0.22501473128795624,
            0.3353322148323059,
            -2.0303521156311035
        ],
        "forward_vector": [
            -0.9673416018486023,
            0.2476615160703659,
            -0.053981512784957886
        ],
        "right_vector": [
            -0.24791234731674194,
            -0.9687802195549011,
            -0.0021053508389741182
        ],
        "location": [
            -1036.6219482421875,
            3054.382080078125,
            357.8250732421875
        ],
        "rotation": [
            0.12080395966768265,
            -3.094417095184326,
            165.63943481445312
        ],
        "velocity": [
            -9.21711254119873,
            2.386084794998169,
            -0.5323066115379333
        ],
        "speed": 9.520953956723265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 133.78367614746094,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1162.8624267578125,
                3098.389404296875,
                352.8483581542969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8229541778564453,
                "transform": {
                    "location": {
                        "x": -1027.0325927734375,
                        "y": 3077.84423828125,
                        "z": 356.5549621582031
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": -0.1316792070865631,
                        "yaw": 178.9921417236328
                    }
                },
                "velocity": {
                    "x": -2.8226518630981445,
                    "y": 0.040147967636585236,
                    "z": -0.009758119471371174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.518965244293213,
                "transform": {
                    "location": {
                        "x": -1026.8896484375,
                        "y": 3081.3427734375,
                        "z": 356.5447998046875
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -0.2445685714483261,
                        "yaw": 178.94412231445312
                    }
                },
                "velocity": {
                    "x": -2.5187573432922363,
                    "y": 0.030485069379210472,
                    "z": -0.010854692198336124
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.9407958984375,
                        "y": 3094.89013671875,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.8624267578125,
                        "y": 3098.389404296875,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.7843017578125,
                        "y": 3101.887939453125,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.7061767578125,
                        "y": 3105.387451171875,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.2652587890625,
                        "y": 3086.95654296875,
                        "z": 345.69940185546875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.898681640625,
                        "y": 3090.4384765625,
                        "z": 345.69940185546875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.125244140625,
                        "y": 3093.87451171875,
                        "z": 345.6944885253906
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.907917976379395,
                "transform": {
                    "location": {
                        "x": -1054.8878173828125,
                        "y": 3074.97265625,
                        "z": 356.2384948730469
                    },
                    "rotation": {
                        "roll": -0.00036621117033064365,
                        "pitch": -0.9840047955513,
                        "yaw": 178.7210235595703
                    }
                },
                "velocity": {
                    "x": -9.904027938842773,
                    "y": 0.22099243104457855,
                    "z": -0.1680688112974167
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.8233642578125,
                        "y": 3081.093017578125,
                        "z": 346.05096435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.1348876953125,
                        "y": 3080.093017578125,
                        "z": 347.0255126953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1254.0596923828125,
                        "y": 3079.421142578125,
                        "z": 348.33404541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.828857421875,
                        "y": 3078.388916015625,
                        "z": 350.7126159667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.5120849609375,
                        "y": 3077.4658203125,
                        "z": 352.7231140136719
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.5186767578125,
                        "y": 3076.929931640625,
                        "z": 353.6137390136719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.513375282287598,
                "transform": {
                    "location": {
                        "x": -1076.380126953125,
                        "y": 3075.450927734375,
                        "z": 355.8103332519531
                    },
                    "rotation": {
                        "roll": 0.0003055084671359509,
                        "pitch": -0.8265962600708008,
                        "yaw": 178.73135375976562
                    }
                },
                "velocity": {
                    "x": -11.507360458374023,
                    "y": 0.2555195689201355,
                    "z": -0.27052319049835205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.373787879943848,
                "transform": {
                    "location": {
                        "x": -994.1879272460938,
                        "y": 3044.677490234375,
                        "z": 360.3785095214844
                    },
                    "rotation": {
                        "roll": -0.034393295645713806,
                        "pitch": -2.8473212718963623,
                        "yaw": 167.37808227539062
                    }
                },
                "velocity": {
                    "x": -5.2432355880737305,
                    "y": 1.1340376138687134,
                    "z": -0.3162807822227478
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.718463897705078,
                "transform": {
                    "location": {
                        "x": -1013.222412109375,
                        "y": 3048.5712890625,
                        "z": 359.2378845214844
                    },
                    "rotation": {
                        "roll": 0.027174606919288635,
                        "pitch": -3.4296836853027344,
                        "yaw": 168.54769897460938
                    }
                },
                "velocity": {
                    "x": -6.570642471313477,
                    "y": 1.3448140621185303,
                    "z": -0.39482423663139343
                },
                "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": 0.32135719060897827,
        "expert_target_speed": 20.0,
        "target_point": [
            11.134278497958206,
            0.3937326626343136
        ],
        "target_point_next": [
            33.114711585450245,
            -0.45254141989308394
        ]
    },
    "195": {
        "acceleration": [
            -1.4115524291992188,
            0.34873485565185547,
            -0.018947124481201172
        ],
        "angular_velocity": [
            -0.18844576179981232,
            0.3418661057949066,
            -0.2981736958026886
        ],
        "forward_vector": [
            -0.9659234881401062,
            0.2533985674381256,
            -0.05273481458425522
        ],
        "right_vector": [
            -0.2536686062812805,
            -0.9672898650169373,
            -0.0016198692610487342
        ],
        "location": [
            -1038.971923828125,
            3054.99560546875,
            357.6905822753906
        ],
        "rotation": [
            0.0929410383105278,
            -3.0228843688964844,
            165.3003692626953
        ],
        "velocity": [
            -9.563148498535156,
            2.510772228240967,
            -0.541195273399353
        ],
        "speed": 9.887253733324604,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 129.3797607421875,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1160.7811279296875,
                3098.342529296875,
                352.92779541015625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.368533134460449,
                "transform": {
                    "location": {
                        "x": -1027.9420166015625,
                        "y": 3077.856689453125,
                        "z": 356.5506286621094
                    },
                    "rotation": {
                        "roll": -0.00396728515625,
                        "pitch": -0.12545691430568695,
                        "yaw": 179.11402893066406
                    }
                },
                "velocity": {
                    "x": -4.36807107925415,
                    "y": 0.05949064716696739,
                    "z": -0.022213658317923546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.552882194519043,
                "transform": {
                    "location": {
                        "x": -1027.642578125,
                        "y": 3081.351806640625,
                        "z": 356.5411376953125
                    },
                    "rotation": {
                        "roll": -0.0010375978890806437,
                        "pitch": -0.27367883920669556,
                        "yaw": 178.9320068359375
                    }
                },
                "velocity": {
                    "x": -3.5525527000427246,
                    "y": 0.044226065278053284,
                    "z": -0.019646700471639633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.8594970703125,
                        "y": 3094.84326171875,
                        "z": 352.9277648925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.7811279296875,
                        "y": 3098.342529296875,
                        "z": 352.92779541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.7030029296875,
                        "y": 3101.841552734375,
                        "z": 352.92779541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.6248779296875,
                        "y": 3105.340576171875,
                        "z": 352.92779541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.953369140625,
                        "y": 3093.96435546875,
                        "z": 345.7038269042969
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.898674011230469,
                "transform": {
                    "location": {
                        "x": -1057.482177734375,
                        "y": 3075.030517578125,
                        "z": 356.19354248046875
                    },
                    "rotation": {
                        "roll": -0.0009460454457439482,
                        "pitch": -0.9441165328025818,
                        "yaw": 178.72976684570312
                    }
                },
                "velocity": {
                    "x": -10.894217491149902,
                    "y": 0.2415289282798767,
                    "z": -0.1969308853149414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.067138671875,
                        "y": 3081.296142578125,
                        "z": 345.9493408203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.3795166015625,
                        "y": 3080.193603515625,
                        "z": 346.8689880371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1258.302490234375,
                        "y": 3079.51611328125,
                        "z": 348.1304931640625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.070068359375,
                        "y": 3078.483642578125,
                        "z": 350.4803161621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.7557373046875,
                        "y": 3077.560791015625,
                        "z": 352.5484619140625
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.76318359375,
                        "y": 3077.02490234375,
                        "z": 353.4590148925781
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.549415588378906,
                "transform": {
                    "location": {
                        "x": -1079.3905029296875,
                        "y": 3075.51806640625,
                        "z": 355.7372131347656
                    },
                    "rotation": {
                        "roll": 0.0011167214252054691,
                        "pitch": -0.994106650352478,
                        "yaw": 178.71800231933594
                    }
                },
                "velocity": {
                    "x": -12.542381286621094,
                    "y": 0.28045654296875,
                    "z": -0.3127950131893158
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.953210353851318,
                "transform": {
                    "location": {
                        "x": -995.5194091796875,
                        "y": 3044.96533203125,
                        "z": 360.2986755371094
                    },
                    "rotation": {
                        "roll": -0.02722165919840336,
                        "pitch": -3.1131863594055176,
                        "yaw": 167.71144104003906
                    }
                },
                "velocity": {
                    "x": -5.810945510864258,
                    "y": 1.2446670532226562,
                    "z": -0.3527504503726959
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.048122406005859,
                "transform": {
                    "location": {
                        "x": -1014.8794555664062,
                        "y": 3048.912353515625,
                        "z": 359.138671875
                    },
                    "rotation": {
                        "roll": 0.018840322270989418,
                        "pitch": -3.3515257835388184,
                        "yaw": 168.37777709960938
                    }
                },
                "velocity": {
                    "x": -6.890077590942383,
                    "y": 1.4255776405334473,
                    "z": -0.41302549839019775
                },
                "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": 0.3186699151992798,
        "expert_target_speed": 20.0,
        "target_point": [
            8.703011067082771,
            0.4567481366554904
        ],
        "target_point_next": [
            30.6880671462603,
            -0.25944159511382114
        ]
    },
    "200": {
        "acceleration": [
            -1.3115692138671875,
            0.39699554443359375,
            -0.032820701599121094
        ],
        "angular_velocity": [
            0.04208683595061302,
            0.3090711534023285,
            -0.13919134438037872
        ],
        "forward_vector": [
            -0.9659812450408936,
            0.25339847803115845,
            -0.05166732147336006
        ],
        "right_vector": [
            -0.25370916724205017,
            -0.967280387878418,
            -0.0005622137105092406
        ],
        "location": [
            -1041.4080810546875,
            3055.634033203125,
            357.5543212890625
        ],
        "rotation": [
            0.03225556015968323,
            -2.9616382122039795,
            165.3012237548828
        ],
        "velocity": [
            -9.903241157531738,
            2.5992672443389893,
            -0.5497760772705078
        ],
        "speed": 10.238670598848474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 124.89241790771484,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1158.6998291015625,
                3098.29638671875,
                353.00616455078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.359719753265381,
                "transform": {
                    "location": {
                        "x": -1029.199462890625,
                        "y": 3077.873291015625,
                        "z": 356.54315185546875
                    },
                    "rotation": {
                        "roll": -0.005523681174963713,
                        "pitch": -0.18169668316841125,
                        "yaw": 179.20851135253906
                    }
                },
                "velocity": {
                    "x": -5.35916805267334,
                    "y": 0.06933277100324631,
                    "z": -0.033248309046030045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.674030780792236,
                "transform": {
                    "location": {
                        "x": -1028.6590576171875,
                        "y": 3081.3681640625,
                        "z": 356.53521728515625
                    },
                    "rotation": {
                        "roll": -0.005126953590661287,
                        "pitch": -0.28649911284446716,
                        "yaw": 179.29452514648438
                    }
                },
                "velocity": {
                    "x": -4.673518657684326,
                    "y": 0.0623866431415081,
                    "z": -0.029894927516579628
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.7781982421875,
                        "y": 3094.797119140625,
                        "z": 353.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.6998291015625,
                        "y": 3098.29638671875,
                        "z": 353.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.6217041015625,
                        "y": 3101.795166015625,
                        "z": 353.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.5435791015625,
                        "y": 3105.294189453125,
                        "z": 353.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.741242408752441,
                "transform": {
                    "location": {
                        "x": -1060.341796875,
                        "y": 3075.09423828125,
                        "z": 356.1416015625
                    },
                    "rotation": {
                        "roll": 0.001173348748125136,
                        "pitch": -1.030053973197937,
                        "yaw": 178.71971130371094
                    }
                },
                "velocity": {
                    "x": -11.736255645751953,
                    "y": 0.26236391067504883,
                    "z": -0.21966999769210815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.310546875,
                        "y": 3081.513916015625,
                        "z": 345.86065673828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1292.6239013671875,
                        "y": 3080.306396484375,
                        "z": 346.71893310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.545166015625,
                        "y": 3079.61083984375,
                        "z": 347.9326477050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.310791015625,
                        "y": 3078.578369140625,
                        "z": 350.25042724609375
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1174.9991455078125,
                        "y": 3077.655517578125,
                        "z": 352.3674011230469
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.0079345703125,
                        "y": 3077.11962890625,
                        "z": 353.30419921875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.568842887878418,
                "transform": {
                    "location": {
                        "x": -1082.658203125,
                        "y": 3075.591552734375,
                        "z": 355.6535339355469
                    },
                    "rotation": {
                        "roll": 0.0007147669093683362,
                        "pitch": -1.0242960453033447,
                        "yaw": 178.71388244628906
                    }
                },
                "velocity": {
                    "x": -13.56085205078125,
                    "y": 0.3044109344482422,
                    "z": -0.35232314467430115
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.645959377288818,
                "transform": {
                    "location": {
                        "x": -997.1936645507812,
                        "y": 3045.32373046875,
                        "z": 360.19622802734375
                    },
                    "rotation": {
                        "roll": -0.0066833277232944965,
                        "pitch": -2.839411973953247,
                        "yaw": 167.8844757080078
                    }
                },
                "velocity": {
                    "x": -7.465064525604248,
                    "y": 1.5904674530029297,
                    "z": -0.4515784978866577
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.187652587890625,
                "transform": {
                    "location": {
                        "x": -1016.7501220703125,
                        "y": 3049.30029296875,
                        "z": 359.02642822265625
                    },
                    "rotation": {
                        "roll": 0.006641343701630831,
                        "pitch": -3.1952168941497803,
                        "yaw": 168.29132080078125
                    }
                },
                "velocity": {
                    "x": -8.002612113952637,
                    "y": 1.662782073020935,
                    "z": -0.48063454031944275
                },
                "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": 0.3024536967277527,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            28.169640734247483,
            -0.26051774056836585
        ],
        "target_point_next": [
            79.50451948471796,
            3.135682903125442
        ]
    },
    "205": {
        "acceleration": [
            -0.8752822875976562,
            0.3619718551635742,
            -0.01687765121459961
        ],
        "angular_velocity": [
            0.09296087920665741,
            0.2508968114852905,
            -0.6147446036338806
        ],
        "forward_vector": [
            -0.9654461145401001,
            0.25563016533851624,
            -0.0506662018597126
        ],
        "right_vector": [
            -0.2559291422367096,
            -0.9666953682899475,
            -0.0006058262661099434
        ],
        "location": [
            -1043.923828125,
            3056.29833984375,
            357.4164733886719
        ],
        "rotation": [
            0.03475593030452728,
            -2.904203176498413,
            165.16958618164062
        ],
        "velocity": [
            -10.18569278717041,
            2.7078328132629395,
            -0.5528373718261719
        ],
        "speed": 10.539482724460381,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 120.32781219482422,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1156.6185302734375,
                3098.24951171875,
                353.08221435546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.902018070220947,
                "transform": {
                    "location": {
                        "x": -1030.5751953125,
                        "y": 3077.890869140625,
                        "z": 356.53424072265625
                    },
                    "rotation": {
                        "roll": -0.004241944290697575,
                        "pitch": -0.2755093276500702,
                        "yaw": 179.26034545898438
                    }
                },
                "velocity": {
                    "x": -5.901435375213623,
                    "y": 0.07414860278367996,
                    "z": -0.03714985400438309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.312427997589111,
                "transform": {
                    "location": {
                        "x": -1029.9676513671875,
                        "y": 3081.385009765625,
                        "z": 356.5267639160156
                    },
                    "rotation": {
                        "roll": -0.004974364303052425,
                        "pitch": -0.25488215684890747,
                        "yaw": 179.40106201171875
                    }
                },
                "velocity": {
                    "x": -6.311840534210205,
                    "y": 0.07623288780450821,
                    "z": -0.040069594979286194
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.6968994140625,
                        "y": 3094.750244140625,
                        "z": 353.08221435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.6185302734375,
                        "y": 3098.24951171875,
                        "z": 353.08221435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.5404052734375,
                        "y": 3101.748291015625,
                        "z": 353.08221435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.4622802734375,
                        "y": 3105.247314453125,
                        "z": 353.08221435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.088337898254395,
                "transform": {
                    "location": {
                        "x": -1063.4447021484375,
                        "y": 3075.163330078125,
                        "z": 356.08245849609375
                    },
                    "rotation": {
                        "roll": -6.1034450482111424e-05,
                        "pitch": -1.0185519456863403,
                        "yaw": 178.72262573242188
                    }
                },
                "velocity": {
                    "x": -13.082642555236816,
                    "y": 0.2917754352092743,
                    "z": -0.2528209686279297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.55322265625,
                        "y": 3081.74609375,
                        "z": 345.7849426269531
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1296.867919921875,
                        "y": 3080.4345703125,
                        "z": 346.57440185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1266.7877197265625,
                        "y": 3079.705810546875,
                        "z": 347.7410583496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.5516357421875,
                        "y": 3078.673095703125,
                        "z": 350.0233459472656
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1179.2418212890625,
                        "y": 3077.750244140625,
                        "z": 352.178466796875
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2518310546875,
                        "y": 3077.21435546875,
                        "z": 353.14947509765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.59487247467041,
                "transform": {
                    "location": {
                        "x": -1086.18017578125,
                        "y": 3075.670654296875,
                        "z": 355.5589904785156
                    },
                    "rotation": {
                        "roll": 0.0004292195080779493,
                        "pitch": -1.1672041416168213,
                        "yaw": 178.7125244140625
                    }
                },
                "velocity": {
                    "x": -14.585576057434082,
                    "y": 0.3257529139518738,
                    "z": -0.40639403462409973
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.507518768310547,
                "transform": {
                    "location": {
                        "x": -999.21875,
                        "y": 3045.74951171875,
                        "z": 360.07415771484375
                    },
                    "rotation": {
                        "roll": -0.05288701504468918,
                        "pitch": -2.9168663024902344,
                        "yaw": 168.17257690429688
                    }
                },
                "velocity": {
                    "x": -8.317646026611328,
                    "y": 1.7153500318527222,
                    "z": -0.5022060871124268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.181010246276855,
                "transform": {
                    "location": {
                        "x": -1018.7749633789062,
                        "y": 3049.72607421875,
                        "z": 358.90484619140625
                    },
                    "rotation": {
                        "roll": 0.028014443814754486,
                        "pitch": -3.3469154834747314,
                        "yaw": 168.07948303222656
                    }
                },
                "velocity": {
                    "x": -7.986974716186523,
                    "y": 1.7050772905349731,
                    "z": -0.47945287823677063
                },
                "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": 0.288434773683548,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            25.56818814188406,
            -0.19753648489568576
        ],
        "target_point_next": [
            76.89512731328188,
            3.316616390743084
        ]
    },
    "210": {
        "acceleration": [
            -0.2805137634277344,
            0.2222919464111328,
            0.07483720779418945
        ],
        "angular_velocity": [
            0.06794551014900208,
            0.11686570197343826,
            -0.9380325078964233
        ],
        "forward_vector": [
            -0.9645730257034302,
            0.2589733600616455,
            -0.05031617358326912
        ],
        "right_vector": [
            -0.2592690885066986,
            -0.9658048748970032,
            -0.0006715077324770391
        ],
        "location": [
            -1046.486328125,
            3056.9833984375,
            357.2795104980469
        ],
        "rotation": [
            0.0385233573615551,
            -2.884122371673584,
            164.9713592529297
        ],
        "velocity": [
            -10.287510871887207,
            2.771362543106079,
            -0.5439647436141968
        ],
        "speed": 10.654263479214736,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 115.7198715209961,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1154.5372314453125,
                3098.20361328125,
                353.1584167480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.4266357421875,
                        "y": 3095.057373046875,
                        "z": 352.7132263183594
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.3482666015625,
                        "y": 3098.556396484375,
                        "z": 352.7132263183594
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.2701416015625,
                        "y": 3102.0556640625,
                        "z": 352.7132263183594
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.1920166015625,
                        "y": 3105.5546875,
                        "z": 352.7132263183594
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.866550445556641,
                "transform": {
                    "location": {
                        "x": -1032.3665771484375,
                        "y": 3077.9150390625,
                        "z": 356.523193359375
                    },
                    "rotation": {
                        "roll": 0.0061858827248215675,
                        "pitch": -0.1128552109003067,
                        "yaw": 179.19273376464844
                    }
                },
                "velocity": {
                    "x": -7.865474224090576,
                    "y": 0.12058394402265549,
                    "z": -0.0488884299993515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.110519409179688,
                "transform": {
                    "location": {
                        "x": -1031.8062744140625,
                        "y": 3081.4072265625,
                        "z": 356.51507568359375
                    },
                    "rotation": {
                        "roll": 0.0002961510617751628,
                        "pitch": -0.23562785983085632,
                        "yaw": 179.3158416748047
                    }
                },
                "velocity": {
                    "x": -8.109394073486328,
                    "y": 0.1251501888036728,
                    "z": -0.050788361579179764
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.6156005859375,
                        "y": 3094.704345703125,
                        "z": 353.1584167480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.5372314453125,
                        "y": 3098.20361328125,
                        "z": 353.1584167480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.4591064453125,
                        "y": 3101.702392578125,
                        "z": 353.1584167480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.3809814453125,
                        "y": 3105.201416015625,
                        "z": 353.1584167480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.063146591186523,
                "transform": {
                    "location": {
                        "x": -1066.8453369140625,
                        "y": 3075.2392578125,
                        "z": 356.0157470703125
                    },
                    "rotation": {
                        "roll": -0.0006408683839254081,
                        "pitch": -1.0876188278198242,
                        "yaw": 178.71762084960938
                    }
                },
                "velocity": {
                    "x": -14.05663776397705,
                    "y": 0.314556360244751,
                    "z": -0.28994229435920715
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5395,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1330.79541015625,
                        "y": 3081.9931640625,
                        "z": 345.72216796875
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.111083984375,
                        "y": 3080.576416015625,
                        "z": 346.4329528808594
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1271.0303955078125,
                        "y": 3079.800537109375,
                        "z": 347.5556945800781
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1224.7923583984375,
                        "y": 3078.767822265625,
                        "z": 349.7997131347656
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.4837646484375,
                        "y": 3077.844970703125,
                        "z": 351.9810791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.49560546875,
                        "y": 3077.30908203125,
                        "z": 352.994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.285552978515625,
                "transform": {
                    "location": {
                        "x": -1089.9046630859375,
                        "y": 3075.75439453125,
                        "z": 355.4539489746094
                    },
                    "rotation": {
                        "roll": 0.0015410911291837692,
                        "pitch": -1.301232933998108,
                        "yaw": 178.7078399658203
                    }
                },
                "velocity": {
                    "x": -15.275196075439453,
                    "y": 0.3442193865776062,
                    "z": -0.4449882507324219
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9178056716918945,
                "transform": {
                    "location": {
                        "x": -1001.2210693359375,
                        "y": 3046.160888671875,
                        "z": 359.955078125
                    },
                    "rotation": {
                        "roll": -0.02761838026344776,
                        "pitch": -3.409391164779663,
                        "yaw": 168.4381561279297
                    }
                },
                "velocity": {
                    "x": -7.745251178741455,
                    "y": 1.5759409666061401,
                    "z": -0.46812674403190613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9133453369140625,
                "transform": {
                    "location": {
                        "x": -1020.7227783203125,
                        "y": 3050.14501953125,
                        "z": 358.7877502441406
                    },
                    "rotation": {
                        "roll": 0.020312735810875893,
                        "pitch": -3.4186666011810303,
                        "yaw": 167.8524627685547
                    }
                },
                "velocity": {
                    "x": -7.721395015716553,
                    "y": 1.6692252159118652,
                    "z": -0.4634462594985962
                },
                "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": 0.27217191457748413,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            22.916228453567147,
            -0.11191561564979047
        ],
        "target_point_next": [
            74.23070346500286,
            3.5797790410720456
        ]
    },
    "215": {
        "acceleration": [
            -0.33191680908203125,
            0.24460315704345703,
            0.08310079574584961
        ],
        "angular_velocity": [
            0.007183324079960585,
            0.29605287313461304,
            -0.6777801513671875
        ],
        "forward_vector": [
            -0.9636996388435364,
            0.2623450458049774,
            -0.049578238278627396
        ],
        "right_vector": [
            -0.26263678073883057,
            -0.9648945331573486,
            -0.0006520720780827105
        ],
        "location": [
            -1049.06884765625,
            3057.683349609375,
            357.1446838378906
        ],
        "rotation": [
            0.037406980991363525,
            -2.8417887687683105,
            164.7715606689453
        ],
        "velocity": [
            -10.36680793762207,
            2.8317363262176514,
            -0.5328884720802307
        ],
        "speed": 10.746601203951164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 111.09579467773438,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1152.4559326171875,
                3098.15673828125,
                353.23431396484375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.352294921875,
                        "y": 3095.010986328125,
                        "z": 352.6490478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.2738037109375,
                        "y": 3098.51025390625,
                        "z": 352.6490478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.1956787109375,
                        "y": 3102.00927734375,
                        "z": 352.6490478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.1175537109375,
                        "y": 3105.508056640625,
                        "z": 352.6490478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.295097351074219,
                "transform": {
                    "location": {
                        "x": -1034.4173583984375,
                        "y": 3077.948486328125,
                        "z": 356.5082092285156
                    },
                    "rotation": {
                        "roll": 0.004210892133414745,
                        "pitch": -0.3457031846046448,
                        "yaw": 179.0721893310547
                    }
                },
                "velocity": {
                    "x": -8.29366683959961,
                    "y": 0.13929852843284607,
                    "z": -0.06577464193105698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.225162506103516,
                "transform": {
                    "location": {
                        "x": -1033.891357421875,
                        "y": 3081.440185546875,
                        "z": 356.5018615722656
                    },
                    "rotation": {
                        "roll": 0.0007298323907889426,
                        "pitch": -0.35717105865478516,
                        "yaw": 179.07383728027344
                    }
                },
                "velocity": {
                    "x": -8.223633766174316,
                    "y": 0.14225554466247559,
                    "z": -0.07012078166007996
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.5343017578125,
                        "y": 3094.657470703125,
                        "z": 353.23431396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.4559326171875,
                        "y": 3098.15673828125,
                        "z": 353.23431396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.3778076171875,
                        "y": 3101.655517578125,
                        "z": 353.23431396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.2996826171875,
                        "y": 3105.154541015625,
                        "z": 353.23431396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.953874588012695,
                "transform": {
                    "location": {
                        "x": -1070.475341796875,
                        "y": 3075.320556640625,
                        "z": 355.9400329589844
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -1.155551791191101,
                        "yaw": 178.71377563476562
                    }
                },
                "velocity": {
                    "x": -14.946653366088867,
                    "y": 0.33561617136001587,
                    "z": -0.32137611508369446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1305.3555908203125,
                        "y": 3080.732666015625,
                        "z": 346.2931213378906
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1275.2742919921875,
                        "y": 3079.8955078125,
                        "z": 347.3765563964844
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.0338134765625,
                        "y": 3078.862548828125,
                        "z": 349.5791015625
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1187.7259521484375,
                        "y": 3077.93994140625,
                        "z": 351.77642822265625
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.739013671875,
                        "y": 3077.404052734375,
                        "z": 352.8322448730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.255020141601562,
                "transform": {
                    "location": {
                        "x": -1093.8587646484375,
                        "y": 3075.84326171875,
                        "z": 355.33599853515625
                    },
                    "rotation": {
                        "roll": 0.00047704484313726425,
                        "pitch": -1.3661811351776123,
                        "yaw": 178.71018981933594
                    }
                },
                "velocity": {
                    "x": -16.24327278137207,
                    "y": 0.36584433913230896,
                    "z": -0.4979364573955536
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.000086784362793,
                "transform": {
                    "location": {
                        "x": -1003.1474609375,
                        "y": 3046.5517578125,
                        "z": 359.8389892578125
                    },
                    "rotation": {
                        "roll": -0.014648438431322575,
                        "pitch": -3.457181930541992,
                        "yaw": 168.5404815673828
                    }
                },
                "velocity": {
                    "x": -7.829717636108398,
                    "y": 1.5728704929351807,
                    "z": -0.4722159504890442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.157574653625488,
                "transform": {
                    "location": {
                        "x": -1022.6849975585938,
                        "y": 3050.5712890625,
                        "z": 358.669921875
                    },
                    "rotation": {
                        "roll": 0.02214408852159977,
                        "pitch": -3.3580896854400635,
                        "yaw": 167.7200164794922
                    }
                },
                "velocity": {
                    "x": -7.951955318450928,
                    "y": 1.756478190422058,
                    "z": -0.47666653990745544
                },
                "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": 0.27383774518966675,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            20.240786977522998,
            -0.03496445109271917
        ],
        "target_point_next": [
            71.54207483344946,
            3.8356710860125247
        ]
    },
    "220": {
        "acceleration": [
            -0.3008079528808594,
            0.24343013763427734,
            0.08580446243286133
        ],
        "angular_velocity": [
            0.014157897792756557,
            0.2501475512981415,
            -0.946056604385376
        ],
        "forward_vector": [
            -0.9628109335899353,
            0.2657921016216278,
            -0.04847282916307449
        ],
        "right_vector": [
            -0.2660767138004303,
            -0.9639516472816467,
            -0.0006015999242663383
        ],
        "location": [
            -1051.672607421875,
            3058.398681640625,
            357.01202392578125
        ],
        "rotation": [
            0.03450970724225044,
            -2.7783772945404053,
            164.5673828125
        ],
        "velocity": [
            -10.450582504272461,
            2.8943207263946533,
            -0.5234666466712952
        ],
        "speed": 10.843973770986507,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 106.45576477050781,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1150.3746337890625,
                3098.110595703125,
                353.31024169921875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.27099609375,
                        "y": 3094.96435546875,
                        "z": 352.72418212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.1925048828125,
                        "y": 3098.463623046875,
                        "z": 352.7242126464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.1143798828125,
                        "y": 3101.96240234375,
                        "z": 352.72418212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.0362548828125,
                        "y": 3105.46142578125,
                        "z": 352.7242126464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.917405605316162,
                "transform": {
                    "location": {
                        "x": -1036.434814453125,
                        "y": 3077.9833984375,
                        "z": 356.4911193847656
                    },
                    "rotation": {
                        "roll": 0.0008316118037328124,
                        "pitch": -0.5964052677154541,
                        "yaw": 178.98060607910156
                    }
                },
                "velocity": {
                    "x": -7.915781021118164,
                    "y": 0.14046639204025269,
                    "z": -0.07743030041456223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.8865814208984375,
                "transform": {
                    "location": {
                        "x": -1035.888671875,
                        "y": 3081.474609375,
                        "z": 356.4855651855469
                    },
                    "rotation": {
                        "roll": -0.0011291506234556437,
                        "pitch": -0.576536238193512,
                        "yaw": 178.99603271484375
                    }
                },
                "velocity": {
                    "x": -7.885014057159424,
                    "y": 0.13995328545570374,
                    "z": -0.07164091616868973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.4530029296875,
                        "y": 3094.611083984375,
                        "z": 353.31024169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.3746337890625,
                        "y": 3098.110595703125,
                        "z": 353.31024169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.2965087890625,
                        "y": 3101.609619140625,
                        "z": 353.31024169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.2183837890625,
                        "y": 3105.108642578125,
                        "z": 353.31024169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.790323257446289,
                "transform": {
                    "location": {
                        "x": -1074.3236083984375,
                        "y": 3075.40673828125,
                        "z": 355.8535461425781
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -1.2849429845809937,
                        "yaw": 178.71839904785156
                    }
                },
                "velocity": {
                    "x": -15.782069206237793,
                    "y": 0.3530283570289612,
                    "z": -0.36871808767318726
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1309.5997314453125,
                        "y": 3080.905517578125,
                        "z": 346.1648864746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1279.5185546875,
                        "y": 3079.990478515625,
                        "z": 347.20458984375
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.2757568359375,
                        "y": 3078.956787109375,
                        "z": 349.36163330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.9683837890625,
                        "y": 3078.03466796875,
                        "z": 351.5643615722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.9835205078125,
                        "y": 3077.498779296875,
                        "z": 352.6631164550781
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.56098747253418,
                "transform": {
                    "location": {
                        "x": -1097.97119140625,
                        "y": 3075.935302734375,
                        "z": 355.2082214355469
                    },
                    "rotation": {
                        "roll": -0.003601075615733862,
                        "pitch": -1.6172794103622437,
                        "yaw": 178.7264862060547
                    }
                },
                "velocity": {
                    "x": -16.548419952392578,
                    "y": 0.36879023909568787,
                    "z": -0.5292643904685974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.168210983276367,
                "transform": {
                    "location": {
                        "x": -1005.1421508789062,
                        "y": 3046.951416015625,
                        "z": 359.7183837890625
                    },
                    "rotation": {
                        "roll": -0.011871335096657276,
                        "pitch": -3.3723373413085938,
                        "yaw": 168.68490600585938
                    }
                },
                "velocity": {
                    "x": -7.996735572814941,
                    "y": 1.5939583778381348,
                    "z": -0.4808194637298584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.063092231750488,
                "transform": {
                    "location": {
                        "x": -1024.6654052734375,
                        "y": 3051.013671875,
                        "z": 358.55072021484375
                    },
                    "rotation": {
                        "roll": 0.02393903210759163,
                        "pitch": -3.400416374206543,
                        "yaw": 167.39138793945312
                    }
                },
                "velocity": {
                    "x": -7.852542400360107,
                    "y": 1.7680106163024902,
                    "z": -0.4745168089866638
                },
                "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": 0.2478361427783966,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            17.54055090050961,
            0.03382966085594141
        ],
        "target_point_next": [
            68.82772043949784,
            4.087247455360794
        ]
    },
    "225": {
        "acceleration": [
            -0.4626274108886719,
            0.2964496612548828,
            0.050623416900634766
        ],
        "angular_velocity": [
            0.028309814631938934,
            0.3126402199268341,
            -0.6945798397064209
        ],
        "forward_vector": [
            -0.9619221687316895,
            0.26921284198760986,
            -0.04722578078508377
        ],
        "right_vector": [
            -0.2694890797138214,
            -0.9630033373832703,
            -0.0005365213728509843
        ],
        "location": [
            -1054.297119140625,
            3059.1298828125,
            356.8815002441406
        ],
        "rotation": [
            0.03077474981546402,
            -2.7068448066711426,
            164.36468505859375
        ],
        "velocity": [
            -10.542431831359863,
            2.9601736068725586,
            -0.5146674513816833
        ],
        "speed": 10.95013683483885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 101.8006362915039,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1148.2933349609375,
                3098.06396484375,
                353.3861389160156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.5377197265625
                    },
                    "rotation": {
                        "roll": -4.1690573215902305e-10,
                        "pitch": -0.616028368473053,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 2.3485227096387007e-09,
                    "y": -5.246362372313129e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.1895751953125,
                        "y": 3094.91845703125,
                        "z": 352.8006896972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.1112060546875,
                        "y": 3098.41748046875,
                        "z": 352.8006896972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.0330810546875,
                        "y": 3101.916259765625,
                        "z": 352.8006896972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.9549560546875,
                        "y": 3105.41552734375,
                        "z": 352.8006896972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077893257141113,
                "transform": {
                    "location": {
                        "x": -1038.4267578125,
                        "y": 3078.0205078125,
                        "z": 356.47113037109375
                    },
                    "rotation": {
                        "roll": 0.0038908179849386215,
                        "pitch": -0.5549665093421936,
                        "yaw": 178.92543029785156
                    }
                },
                "velocity": {
                    "x": -8.075956344604492,
                    "y": 0.15723097324371338,
                    "z": -0.08103132247924805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.11469841003418,
                "transform": {
                    "location": {
                        "x": -1037.88623046875,
                        "y": 3081.511474609375,
                        "z": 356.4656982421875
                    },
                    "rotation": {
                        "roll": 0.00029423076193779707,
                        "pitch": -0.5597817897796631,
                        "yaw": 178.9228057861328
                    }
                },
                "velocity": {
                    "x": -8.112700462341309,
                    "y": 0.16147702932357788,
                    "z": -0.0796888992190361
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.3717041015625,
                        "y": 3094.56494140625,
                        "z": 353.3861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.2933349609375,
                        "y": 3098.06396484375,
                        "z": 353.3861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.2152099609375,
                        "y": 3101.56298828125,
                        "z": 353.3861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.1370849609375,
                        "y": 3105.06201171875,
                        "z": 353.3861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.058963775634766,
                "transform": {
                    "location": {
                        "x": -1078.318603515625,
                        "y": 3075.49609375,
                        "z": 355.7587890625
                    },
                    "rotation": {
                        "roll": 0.00041845717350952327,
                        "pitch": -1.3803402185440063,
                        "yaw": 178.72134399414062
                    }
                },
                "velocity": {
                    "x": -16.049943923950195,
                    "y": 0.3584109842777252,
                    "z": -0.4014049768447876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.843994140625,
                        "y": 3081.09423828125,
                        "z": 346.0503845214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1283.762939453125,
                        "y": 3080.085205078125,
                        "z": 347.03973388671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.517578125,
                        "y": 3079.0517578125,
                        "z": 349.1469421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1196.2100830078125,
                        "y": 3078.128662109375,
                        "z": 351.3450012207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.22705078125,
                        "y": 3077.593017578125,
                        "z": 352.48675537109375
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.49329948425293,
                "transform": {
                    "location": {
                        "x": -1102.0989990234375,
                        "y": 3076.02734375,
                        "z": 355.07318115234375
                    },
                    "rotation": {
                        "roll": -0.00030517627601511776,
                        "pitch": -1.8496356010437012,
                        "yaw": 178.7191619873047
                    }
                },
                "velocity": {
                    "x": -16.479894638061523,
                    "y": 0.36827850341796875,
                    "z": -0.5535346269607544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.983184814453125,
                "transform": {
                    "location": {
                        "x": -1007.1141967773438,
                        "y": 3047.34423828125,
                        "z": 359.6002197265625
                    },
                    "rotation": {
                        "roll": -0.004211474675685167,
                        "pitch": -3.4667646884918213,
                        "yaw": 168.7404327392578
                    }
                },
                "velocity": {
                    "x": -7.816472053527832,
                    "y": 1.553404688835144,
                    "z": -0.47003698348999023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035320281982422,
                "transform": {
                    "location": {
                        "x": -1026.619140625,
                        "y": 3051.455322265625,
                        "z": 358.43304443359375
                    },
                    "rotation": {
                        "roll": 0.005524335894733667,
                        "pitch": -3.4014272689819336,
                        "yaw": 167.25064086914062
                    }
                },
                "velocity": {
                    "x": -7.822617053985596,
                    "y": 1.7751415967941284,
                    "z": -0.47106900811195374
                },
                "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": 0.23001256585121155,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            14.815856982896705,
            0.09268623739912973
        ],
        "target_point_next": [
            66.0883660293862,
            4.327514594650962
        ]
    },
    "230": {
        "acceleration": [
            -0.6583023071289062,
            0.3569984436035156,
            0.0035262107849121094
        ],
        "angular_velocity": [
            0.0396614633500576,
            0.31866201758384705,
            -0.949882447719574
        ],
        "forward_vector": [
            -0.9610117673873901,
            0.27270299196243286,
            -0.045710958540439606
        ],
        "right_vector": [
            -0.27296629548072815,
            -0.9620234966278076,
            -0.0005001909448765218
        ],
        "location": [
            -1056.9520263671875,
            3059.8798828125,
            356.7528076171875
        ],
        "rotation": [
            0.028688820078969002,
            -2.61995792388916,
            164.1578369140625
        ],
        "velocity": [
            -10.690678596496582,
            3.043020486831665,
            -0.5098627209663391
        ],
        "speed": 11.11533096839079,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 97.1217041015625,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1146.2120361328125,
                3098.01708984375,
                353.4620361328125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0332811139523983,
                "transform": {
                    "location": {
                        "x": -1040.4718017578125,
                        "y": 3074.650146484375,
                        "z": 356.4382629394531
                    },
                    "rotation": {
                        "roll": -0.0007324221078306437,
                        "pitch": -0.5556290149688721,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": -0.00047481534420512617,
                    "y": 0.00015901091683190316,
                    "z": 0.033277347683906555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.1082763671875,
                        "y": 3094.87158203125,
                        "z": 352.88006591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.0299072265625,
                        "y": 3098.37060546875,
                        "z": 352.88006591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.9517822265625,
                        "y": 3101.869384765625,
                        "z": 352.88006591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.8736572265625,
                        "y": 3105.36865234375,
                        "z": 352.88006591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.09064769744873,
                "transform": {
                    "location": {
                        "x": -1040.45556640625,
                        "y": 3078.061279296875,
                        "z": 356.4510803222656
                    },
                    "rotation": {
                        "roll": 0.0032688456121832132,
                        "pitch": -0.5607243776321411,
                        "yaw": 178.83409118652344
                    }
                },
                "velocity": {
                    "x": -8.08858871459961,
                    "y": 0.1640670746564865,
                    "z": -0.08002673834562302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078750610351562,
                "transform": {
                    "location": {
                        "x": -1039.9176025390625,
                        "y": 3081.5517578125,
                        "z": 356.4456481933594
                    },
                    "rotation": {
                        "roll": -6.1034450482111424e-05,
                        "pitch": -0.5660108923912048,
                        "yaw": 178.851806640625
                    }
                },
                "velocity": {
                    "x": -8.076687812805176,
                    "y": 0.16400949656963348,
                    "z": -0.08013533055782318
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.2904052734375,
                        "y": 3094.51806640625,
                        "z": 353.4620361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.2120361328125,
                        "y": 3098.01708984375,
                        "z": 353.4620361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.1339111328125,
                        "y": 3101.51611328125,
                        "z": 353.4620361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.0557861328125,
                        "y": 3105.01513671875,
                        "z": 353.4620361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.909669876098633,
                "transform": {
                    "location": {
                        "x": -1082.312744140625,
                        "y": 3075.585205078125,
                        "z": 355.6575012207031
                    },
                    "rotation": {
                        "roll": -0.0011291522532701492,
                        "pitch": -1.4769258499145508,
                        "yaw": 178.72543334960938
                    }
                },
                "velocity": {
                    "x": -15.90043830871582,
                    "y": 0.3539559841156006,
                    "z": -0.4103201925754547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.0877685546875,
                        "y": 3081.29736328125,
                        "z": 345.9488525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.0072021484375,
                        "y": 3080.184326171875,
                        "z": 346.88214111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1241.759521484375,
                        "y": 3079.146728515625,
                        "z": 348.9351806640625
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.4512939453125,
                        "y": 3078.2236328125,
                        "z": 351.1183166503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.4703369140625,
                        "y": 3077.68798828125,
                        "z": 352.3029479980469
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4421329498291,
                "transform": {
                    "location": {
                        "x": -1106.2088623046875,
                        "y": 3076.119384765625,
                        "z": 354.93170166015625
                    },
                    "rotation": {
                        "roll": -0.0015563929919153452,
                        "pitch": -2.0567338466644287,
                        "yaw": 178.72406005859375
                    }
                },
                "velocity": {
                    "x": -16.427738189697266,
                    "y": 0.3661945164203644,
                    "z": -0.5822756886482239
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.065733909606934,
                "transform": {
                    "location": {
                        "x": -1009.0743408203125,
                        "y": 3047.73583984375,
                        "z": 359.4822692871094
                    },
                    "rotation": {
                        "roll": 0.017743105068802834,
                        "pitch": -3.430079936981201,
                        "yaw": 168.69522094726562
                    }
                },
                "velocity": {
                    "x": -7.894829750061035,
                    "y": 1.5821198225021362,
                    "z": -0.47394537925720215
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.10367202758789,
                "transform": {
                    "location": {
                        "x": -1028.5850830078125,
                        "y": 3051.90673828125,
                        "z": 358.3143310546875
                    },
                    "rotation": {
                        "roll": 0.025953177362680435,
                        "pitch": -3.382050037384033,
                        "yaw": 167.0128936767578
                    }
                },
                "velocity": {
                    "x": -7.878098011016846,
                    "y": 1.838403582572937,
                    "z": -0.47470489144325256
                },
                "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": 0.2163705974817276,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            12.05661777561732,
            0.14292881187612805
        ],
        "target_point_next": [
            63.31350443825489,
            4.562829805253422
        ]
    },
    "235": {
        "acceleration": [
            -0.28850555419921875,
            0.2834463119506836,
            0.014823675155639648
        ],
        "angular_velocity": [
            0.0532810315489769,
            0.19872529804706573,
            -0.7766774296760559
        ],
        "forward_vector": [
            -0.9600821137428284,
            0.2762235999107361,
            -0.04407753422856331
        ],
        "right_vector": [
            -0.2764735817909241,
            -0.961021363735199,
            -0.00044112183968536556
        ],
        "location": [
            -1059.6470947265625,
            3060.651611328125,
            356.625732421875
        ],
        "rotation": [
            0.025299007073044777,
            -2.526275157928467,
            163.94903564453125
        ],
        "velocity": [
            -10.835606575012207,
            3.1281096935272217,
            -0.5034531950950623
        ],
        "speed": 11.278095588493064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.41088104248047,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1144.1307373046875,
                3097.97119140625,
                353.5379638671875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1026.193359375,
                        "y": 3081.3330078125,
                        "z": 356.9468994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.90765380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3243269920349121,
                "transform": {
                    "location": {
                        "x": -1040.477783203125,
                        "y": 3074.650146484375,
                        "z": 356.447998046875
                    },
                    "rotation": {
                        "roll": 0.0008827223791740835,
                        "pitch": -0.5401586294174194,
                        "yaw": 178.72035217285156
                    }
                },
                "velocity": {
                    "x": -0.3236525356769562,
                    "y": 0.007119773421436548,
                    "z": 0.01965581811964512
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.0269775390625,
                        "y": 3094.824951171875,
                        "z": 352.95953369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.9486083984375,
                        "y": 3098.32421875,
                        "z": 352.95953369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.8704833984375,
                        "y": 3101.822998046875,
                        "z": 352.95953369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.7923583984375,
                        "y": 3105.322021484375,
                        "z": 352.95953369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019434928894043,
                "transform": {
                    "location": {
                        "x": -1042.4635009765625,
                        "y": 3078.10205078125,
                        "z": 356.42864990234375
                    },
                    "rotation": {
                        "roll": 0.002315493766218424,
                        "pitch": -0.6933324933052063,
                        "yaw": 178.8346405029297
                    }
                },
                "velocity": {
                    "x": -8.017156600952148,
                    "y": 0.16756421327590942,
                    "z": -0.09194998443126678
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.992005825042725,
                "transform": {
                    "location": {
                        "x": -1041.9178466796875,
                        "y": 3081.592529296875,
                        "z": 356.4246826171875
                    },
                    "rotation": {
                        "roll": -0.00033569359220564365,
                        "pitch": -0.6267995834350586,
                        "yaw": 178.83364868164062
                    }
                },
                "velocity": {
                    "x": -7.989634037017822,
                    "y": 0.167051762342453,
                    "z": -0.10001672804355621
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.2091064453125,
                        "y": 3094.471923828125,
                        "z": 353.5379638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.1307373046875,
                        "y": 3097.97119140625,
                        "z": 353.5379638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.0526123046875,
                        "y": 3101.469970703125,
                        "z": 353.5379638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.9744873046875,
                        "y": 3104.968994140625,
                        "z": 353.5379638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.831280708312988,
                "transform": {
                    "location": {
                        "x": -1086.273681640625,
                        "y": 3075.673583984375,
                        "z": 355.5510559082031
                    },
                    "rotation": {
                        "roll": 0.00035339363967068493,
                        "pitch": -1.621363878250122,
                        "yaw": 178.7174530029297
                    }
                },
                "velocity": {
                    "x": -15.821080207824707,
                    "y": 0.3539506793022156,
                    "z": -0.4445096552371979
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.3311767578125,
                        "y": 3081.51513671875,
                        "z": 345.8602600097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1292.25146484375,
                        "y": 3080.295166015625,
                        "z": 346.7312316894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.00146484375,
                        "y": 3079.241455078125,
                        "z": 348.7261657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.6920166015625,
                        "y": 3078.318603515625,
                        "z": 350.8853759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.712890625,
                        "y": 3077.78271484375,
                        "z": 352.1119384765625
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.441120147705078,
                "transform": {
                    "location": {
                        "x": -1110.314697265625,
                        "y": 3076.210205078125,
                        "z": 354.78485107421875
                    },
                    "rotation": {
                        "roll": -0.0031433117110282183,
                        "pitch": -2.098752975463867,
                        "yaw": 178.73541259765625
                    }
                },
                "velocity": {
                    "x": -16.426347732543945,
                    "y": 0.36315611004829407,
                    "z": -0.5947079062461853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.087615966796875,
                "transform": {
                    "location": {
                        "x": -1011.0558471679688,
                        "y": 3048.13330078125,
                        "z": 359.36322021484375
                    },
                    "rotation": {
                        "roll": 0.020722422748804092,
                        "pitch": -3.4198617935180664,
                        "yaw": 168.6479949951172
                    }
                },
                "velocity": {
                    "x": -7.915513515472412,
                    "y": 1.590146780014038,
                    "z": -0.47499167919158936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.054414749145508,
                "transform": {
                    "location": {
                        "x": -1030.5479736328125,
                        "y": 3052.36865234375,
                        "z": 358.1963195800781
                    },
                    "rotation": {
                        "roll": 0.018063409253954887,
                        "pitch": -3.3826851844787598,
                        "yaw": 166.75164794921875
                    }
                },
                "velocity": {
                    "x": -7.824758052825928,
                    "y": 1.8508567810058594,
                    "z": -0.47020086646080017
                },
                "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": 0.1845182329416275,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            9.252635729528329,
            0.1833422428507041
        ],
        "target_point_next": [
            60.493076043713984,
            4.789993037745841
        ]
    },
    "240": {
        "acceleration": [
            -2.372722625732422,
            1.0641145706176758,
            -0.1101076602935791
        ],
        "angular_velocity": [
            0.4914894998073578,
            0.5312547087669373,
            -2.2351651191711426
        ],
        "forward_vector": [
            -0.9584925174713135,
            0.2823716700077057,
            -0.03947531059384346
        ],
        "right_vector": [
            -0.28255075216293335,
            -0.9592517018318176,
            -0.0010823528282344341
        ],
        "location": [
            -1062.4642333984375,
            3061.474609375,
            356.4959716796875
        ],
        "rotation": [
            0.06206263229250908,
            -2.2623565196990967,
            163.5850372314453
        ],
        "velocity": [
            -11.656173706054688,
            3.453968048095703,
            -0.5283156633377075
        ],
        "speed": 12.157149367470431,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 87.58248901367188,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1142.0494384765625,
                3097.92431640625,
                353.61383056640625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.453967571258545,
                "transform": {
                    "location": {
                        "x": -1026.1927490234375,
                        "y": 3081.3330078125,
                        "z": 356.5469055175781
                    },
                    "rotation": {
                        "roll": -0.001556396484375,
                        "pitch": -0.2816155254840851,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": 0.0071901543997228146,
                    "y": 0.0006653308519162238,
                    "z": -1.4539495706558228
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4091937839984894,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.52166748046875
                    },
                    "rotation": {
                        "roll": 0.0014644564362242818,
                        "pitch": -0.309202641248703,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": 0.0018321207026019692,
                    "y": 7.230543269542977e-05,
                    "z": -0.4091896712779999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9221161603927612,
                "transform": {
                    "location": {
                        "x": -1040.7945556640625,
                        "y": 3074.657470703125,
                        "z": 356.4479064941406
                    },
                    "rotation": {
                        "roll": -0.00051879818784073,
                        "pitch": -0.3681949973106384,
                        "yaw": 178.71839904785156
                    }
                },
                "velocity": {
                    "x": -1.9215906858444214,
                    "y": 0.042702816426754,
                    "z": -0.014014548622071743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.9456787109375,
                        "y": 3094.7783203125,
                        "z": 353.03662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.8673095703125,
                        "y": 3098.27783203125,
                        "z": 353.03662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.7891845703125,
                        "y": 3101.776611328125,
                        "z": 353.03662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.7110595703125,
                        "y": 3105.275634765625,
                        "z": 353.03662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07673454284668,
                "transform": {
                    "location": {
                        "x": -1044.474609375,
                        "y": 3078.14501953125,
                        "z": 356.4041748046875
                    },
                    "rotation": {
                        "roll": 0.0002795507898554206,
                        "pitch": -0.778498113155365,
                        "yaw": 178.76718139648438
                    }
                },
                "velocity": {
                    "x": -8.074132919311523,
                    "y": 0.17335036396980286,
                    "z": -0.10937841981649399
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.115184783935547,
                "transform": {
                    "location": {
                        "x": -1043.933349609375,
                        "y": 3081.635009765625,
                        "z": 356.400390625
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.7777740955352783,
                        "yaw": 178.7891845703125
                    }
                },
                "velocity": {
                    "x": -8.112648963928223,
                    "y": 0.17307250201702118,
                    "z": -0.10579666495323181
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.1278076171875,
                        "y": 3094.425048828125,
                        "z": 353.61376953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.0494384765625,
                        "y": 3097.92431640625,
                        "z": 353.61383056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.9713134765625,
                        "y": 3101.423095703125,
                        "z": 353.61383056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.8931884765625,
                        "y": 3104.922119140625,
                        "z": 353.61383056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.847304344177246,
                "transform": {
                    "location": {
                        "x": -1090.22998046875,
                        "y": 3075.76171875,
                        "z": 355.4387512207031
                    },
                    "rotation": {
                        "roll": 0.0004705724131781608,
                        "pitch": -1.648739218711853,
                        "yaw": 178.72586059570312
                    }
                },
                "velocity": {
                    "x": -15.836445808410645,
                    "y": 0.3526087999343872,
                    "z": -0.46873739361763
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.5738525390625,
                        "y": 3081.747802734375,
                        "z": 345.78460693359375
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1296.4954833984375,
                        "y": 3080.4208984375,
                        "z": 346.5862731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1250.2432861328125,
                        "y": 3079.33642578125,
                        "z": 348.51947021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.9327392578125,
                        "y": 3078.413330078125,
                        "z": 350.65191650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.955322265625,
                        "y": 3077.877685546875,
                        "z": 351.91162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.448678970336914,
                "transform": {
                    "location": {
                        "x": -1114.4219970703125,
                        "y": 3076.3017578125,
                        "z": 354.6348876953125
                    },
                    "rotation": {
                        "roll": 0.003358216257765889,
                        "pitch": -2.1271939277648926,
                        "yaw": 178.71604919433594
                    }
                },
                "velocity": {
                    "x": -16.4334774017334,
                    "y": 0.36877262592315674,
                    "z": -0.6032335758209229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017863273620605,
                "transform": {
                    "location": {
                        "x": -1013.02294921875,
                        "y": 3048.529296875,
                        "z": 359.2451477050781
                    },
                    "rotation": {
                        "roll": 0.030438359826803207,
                        "pitch": -3.4384400844573975,
                        "yaw": 168.60128784179688
                    }
                },
                "velocity": {
                    "x": -7.842384338378906,
                    "y": 1.6005357503890991,
                    "z": -0.47056007385253906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068163871765137,
                "transform": {
                    "location": {
                        "x": -1032.50439453125,
                        "y": 3052.833740234375,
                        "z": 358.07940673828125
                    },
                    "rotation": {
                        "roll": 0.02186637558043003,
                        "pitch": -3.334101915359497,
                        "yaw": 166.60792541503906
                    }
                },
                "velocity": {
                    "x": -7.830194473266602,
                    "y": 1.8887789249420166,
                    "z": -0.4645925760269165
                },
                "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": 0.14893169701099396,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            57.526539834274175,
            5.167555042339476
        ],
        "target_point_next": [
            69.95948521925318,
            8.393793630063854
        ]
    },
    "245": {
        "acceleration": [
            -1.1930274963378906,
            0.7756900787353516,
            0.058568716049194336
        ],
        "angular_velocity": [
            0.14637598395347595,
            0.07063257694244385,
            -1.0018188953399658
        ],
        "forward_vector": [
            -0.9562627673149109,
            0.2899653911590576,
            -0.03849175199866295
        ],
        "right_vector": [
            -0.29011788964271545,
            -0.9569894075393677,
            -0.0016859936295077205
        ],
        "location": [
            -1065.4312744140625,
            3062.364990234375,
            356.3641357421875
        ],
        "rotation": [
            0.09667200595140457,
            -2.2059597969055176,
            163.13124084472656
        ],
        "velocity": [
            -12.021780967712402,
            3.662532329559326,
            -0.5258025527000427
        ],
        "speed": 12.567313185431459,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.60800170898438,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1139.9681396484375,
                3097.878173828125,
                353.6897277832031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1171.6651611328125,
                        "y": 3095.085205078125,
                        "z": 352.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 1.2499737911397801e-09,
                    "y": -2.7923307763244587e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1171.5867919921875,
                        "y": 3098.584228515625,
                        "z": 352.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 1.1148842959940453e-09,
                    "y": -2.4905529028007578e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1171.5086669921875,
                        "y": 3102.083251953125,
                        "z": 352.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 1.2013312566949708e-09,
                    "y": -2.6836676977892715e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1171.4305419921875,
                        "y": 3105.58251953125,
                        "z": 352.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 8.651627747546797e-10,
                    "y": -1.9326970579491842e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2560470998287201,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.50982666015625
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.3044351637363434,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0012903043534606695,
                    "y": -0.00013132394815329462,
                    "z": 0.25604382157325745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12769395112991333,
                "transform": {
                    "location": {
                        "x": -1026.270751953125,
                        "y": 3077.834228515625,
                        "z": 356.5383605957031
                    },
                    "rotation": {
                        "roll": 0.0010549644939601421,
                        "pitch": -0.3042576014995575,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": -0.0006019489956088364,
                    "y": -0.00013047808897681534,
                    "z": 0.12769246101379395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.048752784729004,
                "transform": {
                    "location": {
                        "x": -1041.4058837890625,
                        "y": 3074.6708984375,
                        "z": 356.44140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4267297089099884,
                        "yaw": 178.7137451171875
                    }
                },
                "velocity": {
                    "x": -3.0477991104125977,
                    "y": 0.0684080645442009,
                    "z": -0.03369486704468727
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.8643798828125,
                        "y": 3094.731689453125,
                        "z": 353.1127014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.7860107421875,
                        "y": 3098.231201171875,
                        "z": 353.1127014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.7078857421875,
                        "y": 3101.730224609375,
                        "z": 353.1127014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.6297607421875,
                        "y": 3105.22900390625,
                        "z": 353.1127014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054649353027344,
                "transform": {
                    "location": {
                        "x": -1046.49169921875,
                        "y": 3078.1884765625,
                        "z": 356.3767395019531
                    },
                    "rotation": {
                        "roll": 8.401765808230266e-05,
                        "pitch": -0.774345338344574,
                        "yaw": 178.77969360351562
                    }
                },
                "velocity": {
                    "x": -8.052006721496582,
                    "y": 0.17409825325012207,
                    "z": -0.11065284162759781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010171890258789,
                "transform": {
                    "location": {
                        "x": -1045.94775390625,
                        "y": 3081.677978515625,
                        "z": 356.37310791015625
                    },
                    "rotation": {
                        "roll": -0.0006713861366733909,
                        "pitch": -0.7763670682907104,
                        "yaw": 178.77005004882812
                    }
                },
                "velocity": {
                    "x": -8.007612228393555,
                    "y": 0.17176814377307892,
                    "z": -0.10721041262149811
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.0465087890625,
                        "y": 3094.378662109375,
                        "z": 353.6897277832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.9681396484375,
                        "y": 3097.878173828125,
                        "z": 353.6897277832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.8900146484375,
                        "y": 3101.377197265625,
                        "z": 353.6897277832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.8118896484375,
                        "y": 3104.876220703125,
                        "z": 353.6897277832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.866129875183105,
                "transform": {
                    "location": {
                        "x": -1094.1912841796875,
                        "y": 3075.850341796875,
                        "z": 355.31982421875
                    },
                    "rotation": {
                        "roll": 0.0001600576943019405,
                        "pitch": -1.7563420534133911,
                        "yaw": 178.71910095214844
                    }
                },
                "velocity": {
                    "x": -15.854686737060547,
                    "y": 0.3569192886352539,
                    "z": -0.48535850644111633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5394,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1330.816162109375,
                        "y": 3081.994384765625,
                        "z": 345.72186279296875
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1300.739013671875,
                        "y": 3080.560791015625,
                        "z": 346.4450988769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1254.4844970703125,
                        "y": 3079.43115234375,
                        "z": 348.3133850097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.1727294921875,
                        "y": 3078.50830078125,
                        "z": 350.4201965332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.1966552734375,
                        "y": 3077.972412109375,
                        "z": 351.7044982910156
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.450551986694336,
                "transform": {
                    "location": {
                        "x": -1118.53076171875,
                        "y": 3076.393798828125,
                        "z": 354.484375
                    },
                    "rotation": {
                        "roll": 0.001074011204764247,
                        "pitch": -2.1214566230773926,
                        "yaw": 178.7189483642578
                    }
                },
                "velocity": {
                    "x": -16.435441970825195,
                    "y": 0.36759623885154724,
                    "z": -0.6014560461044312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.079996109008789,
                "transform": {
                    "location": {
                        "x": -1014.9910888671875,
                        "y": 3048.93408203125,
                        "z": 359.1270751953125
                    },
                    "rotation": {
                        "roll": 0.040186651051044464,
                        "pitch": -3.4203810691833496,
                        "yaw": 168.36395263671875
                    }
                },
                "velocity": {
                    "x": -7.898368835449219,
                    "y": 1.6368366479873657,
                    "z": -0.4720945656299591
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.076196670532227,
                "transform": {
                    "location": {
                        "x": -1034.4635009765625,
                        "y": 3053.311767578125,
                        "z": 357.9634704589844
                    },
                    "rotation": {
                        "roll": 0.025062257423996925,
                        "pitch": -3.2822883129119873,
                        "yaw": 166.26693725585938
                    }
                },
                "velocity": {
                    "x": -7.829576015472412,
                    "y": 1.9262222051620483,
                    "z": -0.4608204662799835
                },
                "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": 0.13439799845218658,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            54.386061385558556,
            5.6141086055154865
        ],
        "target_point_next": [
            66.79306441145806,
            8.938717196930861
        ]
    },
    "250": {
        "acceleration": [
            -0.9420013427734375,
            0.7373046875,
            0.07236599922180176
        ],
        "angular_velocity": [
            0.2601700723171234,
            0.2542755603790283,
            -2.733142137527466
        ],
        "forward_vector": [
            -0.9537702202796936,
            0.2981531322002411,
            -0.037775345146656036
        ],
        "right_vector": [
            -0.29828572273254395,
            -0.9544740915298462,
            -0.002207486191764474
        ],
        "location": [
            -1068.4735107421875,
            3063.303955078125,
            356.2336120605469
        ],
        "rotation": [
            0.12657009065151215,
            -2.1648828983306885,
            162.6405029296875
        ],
        "velocity": [
            -12.287867546081543,
            3.8539416790008545,
            -0.5146893262863159
        ],
        "speed": 12.878064889383962,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.56570434570312,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1137.8868408203125,
                3097.831298828125,
                353.7655334472656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.6009521484375,
                        "y": 3095.0390625,
                        "z": 352.6017761230469
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.5225830078125,
                        "y": 3098.538330078125,
                        "z": 352.60174560546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.4444580078125,
                        "y": 3102.037353515625,
                        "z": 352.60174560546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.3663330078125,
                        "y": 3105.5361328125,
                        "z": 352.60174560546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06273172795772552,
                "transform": {
                    "location": {
                        "x": -1026.1927490234375,
                        "y": 3081.3330078125,
                        "z": 356.5495300292969
                    },
                    "rotation": {
                        "roll": -0.0014038088265806437,
                        "pitch": -0.29977014660835266,
                        "yaw": 178.72012329101562
                    }
                },
                "velocity": {
                    "x": -0.0003220518119633198,
                    "y": -4.3232015741523355e-05,
                    "z": 0.06273088604211807
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5497971773147583,
                "transform": {
                    "location": {
                        "x": -1026.4915771484375,
                        "y": 3077.83642578125,
                        "z": 356.5545654296875
                    },
                    "rotation": {
                        "roll": -0.007171629928052425,
                        "pitch": -0.13440445065498352,
                        "yaw": 178.83250427246094
                    }
                },
                "velocity": {
                    "x": -1.5495855808258057,
                    "y": 0.014950296841561794,
                    "z": 0.020792808383703232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.592450141906738,
                "transform": {
                    "location": {
                        "x": -1042.3751220703125,
                        "y": 3074.692626953125,
                        "z": 356.4303283691406
                    },
                    "rotation": {
                        "roll": 6.990657857386395e-05,
                        "pitch": -0.454009473323822,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -4.5909953117370605,
                    "y": 0.10280109941959381,
                    "z": -0.052842263132333755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.7830810546875,
                        "y": 3094.685546875,
                        "z": 353.18878173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.7047119140625,
                        "y": 3098.184814453125,
                        "z": 353.18878173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.6265869140625,
                        "y": 3101.68359375,
                        "z": 353.18878173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.5484619140625,
                        "y": 3105.182861328125,
                        "z": 353.18878173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05125617980957,
                "transform": {
                    "location": {
                        "x": -1048.503173828125,
                        "y": 3078.232421875,
                        "z": 356.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0003266263520345092,
                        "pitch": -0.7712717652320862,
                        "yaw": 178.73190307617188
                    }
                },
                "velocity": {
                    "x": -8.048599243164062,
                    "y": 0.17664800584316254,
                    "z": -0.10758116841316223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083415031433105,
                "transform": {
                    "location": {
                        "x": -1047.958251953125,
                        "y": 3081.721435546875,
                        "z": 356.3460388183594
                    },
                    "rotation": {
                        "roll": 0.0006699707009829581,
                        "pitch": -0.768341600894928,
                        "yaw": 178.7626495361328
                    }
                },
                "velocity": {
                    "x": -8.08077621459961,
                    "y": 0.176064595580101,
                    "z": -0.10792061686515808
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.9652099609375,
                        "y": 3094.33203125,
                        "z": 353.7655334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.8868408203125,
                        "y": 3097.831298828125,
                        "z": 353.7655334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.8087158203125,
                        "y": 3101.330322265625,
                        "z": 353.7655334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.7305908203125,
                        "y": 3104.829345703125,
                        "z": 353.7655334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.869407653808594,
                "transform": {
                    "location": {
                        "x": -1098.154541015625,
                        "y": 3075.938720703125,
                        "z": 355.1959228515625
                    },
                    "rotation": {
                        "roll": -9.155442239716649e-05,
                        "pitch": -1.8728582859039307,
                        "yaw": 178.71958923339844
                    }
                },
                "velocity": {
                    "x": -15.85718059539795,
                    "y": 0.35228103399276733,
                    "z": -0.5136352181434631
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.9835205078125,
                        "y": 3080.717041015625,
                        "z": 346.3050842285156
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1258.726806640625,
                        "y": 3079.52587890625,
                        "z": 348.1100769042969
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.413330078125,
                        "y": 3078.60302734375,
                        "z": 350.1915283203125
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.437744140625,
                        "y": 3078.0673828125,
                        "z": 351.4891662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.450035095214844,
                "transform": {
                    "location": {
                        "x": -1122.6396484375,
                        "y": 3076.485595703125,
                        "z": 354.3343200683594
                    },
                    "rotation": {
                        "roll": -0.002777100307866931,
                        "pitch": -2.1199676990509033,
                        "yaw": 178.72235107421875
                    }
                },
                "velocity": {
                    "x": -16.435049057006836,
                    "y": 0.364895761013031,
                    "z": -0.5997292399406433
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.048015594482422,
                "transform": {
                    "location": {
                        "x": -1016.9627075195312,
                        "y": 3049.343017578125,
                        "z": 359.0089111328125
                    },
                    "rotation": {
                        "roll": 0.01840043067932129,
                        "pitch": -3.417327880859375,
                        "yaw": 168.2645721435547
                    }
                },
                "velocity": {
                    "x": -7.865437030792236,
                    "y": 1.6378023624420166,
                    "z": -0.4722924828529358
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.062396049499512,
                "transform": {
                    "location": {
                        "x": -1036.418701171875,
                        "y": 3053.794677734375,
                        "z": 357.8499450683594
                    },
                    "rotation": {
                        "roll": 0.0059599424712359905,
                        "pitch": -3.23781681060791,
                        "yaw": 166.1174774169922
                    }
                },
                "velocity": {
                    "x": -7.813348293304443,
                    "y": 1.9361040592193604,
                    "z": -0.45312070846557617
                },
                "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": 0.13667355477809906,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            51.152160273305455,
            6.068209803641528
        ],
        "target_point_next": [
            63.53023346833698,
            9.498960501263618
        ]
    },
    "255": {
        "acceleration": [
            -0.8998298645019531,
            0.4358053207397461,
            -0.014265775680541992
        ],
        "angular_velocity": [
            -0.27668827772140503,
            -0.05360756441950798,
            -0.2435581237077713
        ],
        "forward_vector": [
            -0.9517086744308472,
            0.30473044514656067,
            -0.03728240355849266
        ],
        "right_vector": [
            -0.30486607551574707,
            -0.9523928761482239,
            -0.0021307540591806173
        ],
        "location": [
            -1071.5731201171875,
            3064.286865234375,
            356.1053161621094
        ],
        "rotation": [
            0.12216825038194656,
            -2.1366195678710938,
            162.24530029296875
        ],
        "velocity": [
            -12.498866081237793,
            4.001304626464844,
            -0.5106528401374817
        ],
        "speed": 13.1237224913698,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.4778060913086,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1135.8055419921875,
                3097.78466796875,
                353.84149169921875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.519775390625,
                        "y": 3094.9921875,
                        "z": 352.6791076660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.4412841796875,
                        "y": 3098.491455078125,
                        "z": 352.6791076660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.3631591796875,
                        "y": 3101.990478515625,
                        "z": 352.6791076660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.2850341796875,
                        "y": 3105.4892578125,
                        "z": 352.6791076660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2487595081329346,
                "transform": {
                    "location": {
                        "x": -1026.3736572265625,
                        "y": 3081.335205078125,
                        "z": 356.552734375
                    },
                    "rotation": {
                        "roll": -0.0038757319562137127,
                        "pitch": -0.27048230171203613,
                        "yaw": 178.85154724121094
                    }
                },
                "velocity": {
                    "x": -1.2487126588821411,
                    "y": 0.006083906628191471,
                    "z": -0.008950910530984402
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8229541778564453,
                "transform": {
                    "location": {
                        "x": -1027.0325927734375,
                        "y": 3077.84423828125,
                        "z": 356.5549621582031
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": -0.1316792070865631,
                        "yaw": 178.9921417236328
                    }
                },
                "velocity": {
                    "x": -2.8226518630981445,
                    "y": 0.040147967636585236,
                    "z": -0.009758119471371174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4252424240112305,
                "transform": {
                    "location": {
                        "x": -1043.671875,
                        "y": 3074.721923828125,
                        "z": 356.415771484375
                    },
                    "rotation": {
                        "roll": 0.0011952901259064674,
                        "pitch": -0.6238694190979004,
                        "yaw": 178.73822021484375
                    }
                },
                "velocity": {
                    "x": -5.423540115356445,
                    "y": 0.12136701494455338,
                    "z": -0.061150215566158295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.7017822265625,
                        "y": 3094.638671875,
                        "z": 353.26470947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.6234130859375,
                        "y": 3098.137939453125,
                        "z": 353.2646789550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.5452880859375,
                        "y": 3101.63671875,
                        "z": 353.2646789550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.4671630859375,
                        "y": 3105.135986328125,
                        "z": 353.26470947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064830780029297,
                "transform": {
                    "location": {
                        "x": -1050.5167236328125,
                        "y": 3078.27685546875,
                        "z": 356.3196716308594
                    },
                    "rotation": {
                        "roll": 0.0007614787900820374,
                        "pitch": -0.9107305407524109,
                        "yaw": 178.7574462890625
                    }
                },
                "velocity": {
                    "x": -8.061941146850586,
                    "y": 0.17712710797786713,
                    "z": -0.12341504544019699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.036659240722656,
                "transform": {
                    "location": {
                        "x": -1049.972900390625,
                        "y": 3081.765625,
                        "z": 356.3172302246094
                    },
                    "rotation": {
                        "roll": 0.0009863509330898523,
                        "pitch": -0.8518338203430176,
                        "yaw": 178.7459259033203
                    }
                },
                "velocity": {
                    "x": -8.033651351928711,
                    "y": 0.17748957872390747,
                    "z": -0.1297491043806076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.8839111328125,
                        "y": 3094.28515625,
                        "z": 353.8414306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.8055419921875,
                        "y": 3097.78466796875,
                        "z": 353.84149169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.7274169921875,
                        "y": 3101.28369140625,
                        "z": 353.84149169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.6492919921875,
                        "y": 3104.78271484375,
                        "z": 353.84149169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.86837100982666,
                "transform": {
                    "location": {
                        "x": -1102.1185302734375,
                        "y": 3076.027099609375,
                        "z": 355.0652770996094
                    },
                    "rotation": {
                        "roll": -6.103479245211929e-05,
                        "pitch": -1.8937381505966187,
                        "yaw": 178.7245330810547
                    }
                },
                "velocity": {
                    "x": -15.855592727661133,
                    "y": 0.3532261252403259,
                    "z": -0.5297203063964844
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1309.2279052734375,
                        "y": 3080.889892578125,
                        "z": 346.17584228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.969970703125,
                        "y": 3079.620849609375,
                        "z": 347.9127197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.655029296875,
                        "y": 3078.697998046875,
                        "z": 349.9655456542969
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.6798095703125,
                        "y": 3078.162353515625,
                        "z": 351.2665100097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449670791625977,
                "transform": {
                    "location": {
                        "x": -1126.748291015625,
                        "y": 3076.57763671875,
                        "z": 354.1844482421875
                    },
                    "rotation": {
                        "roll": 0.001081921043805778,
                        "pitch": -2.119380235671997,
                        "yaw": 178.71461486816406
                    }
                },
                "velocity": {
                    "x": -16.434608459472656,
                    "y": 0.3683743178844452,
                    "z": -0.5996865034103394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.056879997253418,
                "transform": {
                    "location": {
                        "x": -1018.9275512695312,
                        "y": 3049.7587890625,
                        "z": 358.89093017578125
                    },
                    "rotation": {
                        "roll": 0.05423564091324806,
                        "pitch": -3.432368040084839,
                        "yaw": 168.00576782226562
                    }
                },
                "velocity": {
                    "x": -7.863415241241455,
                    "y": 1.690226435661316,
                    "z": -0.47239774465560913
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.069477081298828,
                "transform": {
                    "location": {
                        "x": -1038.3719482421875,
                        "y": 3054.28466796875,
                        "z": 357.7381896972656
                    },
                    "rotation": {
                        "roll": 0.025219213217496872,
                        "pitch": -3.1704986095428467,
                        "yaw": 165.86892700195312
                    }
                },
                "velocity": {
                    "x": -7.807987689971924,
                    "y": 1.9886623620986938,
                    "z": -0.44386062026023865
                },
                "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": 0.14381380379199982,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            47.85737716621507,
            6.411800913285308
        ],
        "target_point_next": [
            60.21149100156292,
            9.927852351199638
        ]
    },
    "260": {
        "acceleration": [
            -1.0753440856933594,
            -0.007171630859375,
            0.0665748119354248
        ],
        "angular_velocity": [
            -0.27721625566482544,
            0.7237861156463623,
            1.001386284828186
        ],
        "forward_vector": [
            -0.9525660872459412,
            0.3022012412548065,
            -0.0359492301940918
        ],
        "right_vector": [
            -0.30239564180374146,
            -0.9531825184822083,
            -3.0396504371310584e-05
        ],
        "location": [
            -1074.7313232421875,
            3065.292236328125,
            355.9784240722656
        ],
        "rotation": [
            0.0017427178099751472,
            -2.060183048248291,
            162.3983917236328
        ],
        "velocity": [
            -12.75460433959961,
            4.0290751457214355,
            -0.5010761618614197
        ],
        "speed": 13.375850566958476,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.37897491455078,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1133.74462890625,
                3097.743896484375,
                353.9178161621094
            ],
            "velocity": [
                8.21609115600586,
                -0.11791737377643585,
                0.31284672021865845
            ],
            "speed_kmh": 29.602406519352296,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.4639892578125,
                        "y": 3094.946533203125,
                        "z": 352.7533264160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.3599853515625,
                        "y": 3098.4453125,
                        "z": 352.7542419433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.2818603515625,
                        "y": 3101.9443359375,
                        "z": 352.7542419433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.2037353515625,
                        "y": 3105.443359375,
                        "z": 352.7542419433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8614230155944824,
                "transform": {
                    "location": {
                        "x": -1026.77294921875,
                        "y": 3081.340576171875,
                        "z": 356.54998779296875
                    },
                    "rotation": {
                        "roll": -0.001068114535883069,
                        "pitch": -0.29565155506134033,
                        "yaw": 178.96669006347656
                    }
                },
                "velocity": {
                    "x": -1.8612186908721924,
                    "y": 0.02393387444317341,
                    "z": -0.013697347603738308
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.368533134460449,
                "transform": {
                    "location": {
                        "x": -1027.9420166015625,
                        "y": 3077.856689453125,
                        "z": 356.5506286621094
                    },
                    "rotation": {
                        "roll": -0.00396728515625,
                        "pitch": -0.12545691430568695,
                        "yaw": 179.11402893066406
                    }
                },
                "velocity": {
                    "x": -4.36807107925415,
                    "y": 0.05949064716696739,
                    "z": -0.022213658317923546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.441685199737549,
                "transform": {
                    "location": {
                        "x": -1045.0833740234375,
                        "y": 3074.753662109375,
                        "z": 356.3968811035156
                    },
                    "rotation": {
                        "roll": 0.0036225388757884502,
                        "pitch": -0.6203928589820862,
                        "yaw": 178.6438751220703
                    }
                },
                "velocity": {
                    "x": -6.439389705657959,
                    "y": 0.14804859459400177,
                    "z": -0.08745811879634857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.665283203125,
                        "y": 3094.59375,
                        "z": 353.33892822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.557861328125,
                        "y": 3098.092529296875,
                        "z": 353.34002685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.4639892578125,
                        "y": 3101.591064453125,
                        "z": 353.3406066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.3858642578125,
                        "y": 3105.09033203125,
                        "z": 353.3406066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058088302612305,
                "transform": {
                    "location": {
                        "x": -1052.530517578125,
                        "y": 3078.3212890625,
                        "z": 356.28741455078125
                    },
                    "rotation": {
                        "roll": 0.0014831083826720715,
                        "pitch": -0.9874882102012634,
                        "yaw": 178.71762084960938
                    }
                },
                "velocity": {
                    "x": -8.054903030395508,
                    "y": 0.17934466898441315,
                    "z": -0.13841748237609863
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077280044555664,
                "transform": {
                    "location": {
                        "x": -1051.985107421875,
                        "y": 3081.809814453125,
                        "z": 356.2854309082031
                    },
                    "rotation": {
                        "roll": -0.00018310498853679746,
                        "pitch": -0.9883966445922852,
                        "yaw": 178.73216247558594
                    }
                },
                "velocity": {
                    "x": -8.074161529541016,
                    "y": 0.17857159674167633,
                    "z": -0.13592155277729034
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.122335433959961,
                "transform": {
                    "location": {
                        "x": -1133.85546875,
                        "y": 3094.25927734375,
                        "z": 353.9146423339844
                    },
                    "rotation": {
                        "roll": -0.006225585006177425,
                        "pitch": 2.069465160369873,
                        "yaw": -0.5798032879829407
                    }
                },
                "velocity": {
                    "x": 8.116598129272461,
                    "y": -0.08250108361244202,
                    "z": 0.2938845157623291
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.22288990020752,
                "transform": {
                    "location": {
                        "x": -1133.74462890625,
                        "y": 3097.743896484375,
                        "z": 353.9178161621094
                    },
                    "rotation": {
                        "roll": -0.0426635779440403,
                        "pitch": 2.0527994632720947,
                        "yaw": -1.096801519393921
                    }
                },
                "velocity": {
                    "x": 8.21609115600586,
                    "y": -0.11791737377643585,
                    "z": 0.31284672021865845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.6461181640625,
                        "y": 3101.237548828125,
                        "z": 353.9173889160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.5679931640625,
                        "y": 3104.736572265625,
                        "z": 353.9173889160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.871122360229492,
                "transform": {
                    "location": {
                        "x": -1106.0816650390625,
                        "y": 3076.1162109375,
                        "z": 354.9284362792969
                    },
                    "rotation": {
                        "roll": -0.0008850065642036498,
                        "pitch": -2.039337396621704,
                        "yaw": 178.70953369140625
                    }
                },
                "velocity": {
                    "x": -15.857169151306152,
                    "y": 0.35668525099754333,
                    "z": -0.5616652369499207
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.4718017578125,
                        "y": 3081.076416015625,
                        "z": 346.05950927734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.213134765625,
                        "y": 3079.715576171875,
                        "z": 347.72174072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.896484375,
                        "y": 3078.792724609375,
                        "z": 349.74237060546875
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.9208984375,
                        "y": 3078.257080078125,
                        "z": 351.0372619628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449663162231445,
                "transform": {
                    "location": {
                        "x": -1130.85693359375,
                        "y": 3076.669189453125,
                        "z": 354.0346374511719
                    },
                    "rotation": {
                        "roll": -0.0015258772764354944,
                        "pitch": -2.119899272918701,
                        "yaw": 178.7302703857422
                    }
                },
                "velocity": {
                    "x": -16.434633255004883,
                    "y": 0.36645540595054626,
                    "z": -0.599952757358551
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.054396629333496,
                "transform": {
                    "location": {
                        "x": -1020.8934936523438,
                        "y": 3050.182373046875,
                        "z": 358.7727966308594
                    },
                    "rotation": {
                        "roll": 0.03715663030743599,
                        "pitch": -3.417020559310913,
                        "yaw": 167.814697265625
                    }
                },
                "velocity": {
                    "x": -7.858095645904541,
                    "y": 1.7031481266021729,
                    "z": -0.4721386730670929
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.069437980651855,
                "transform": {
                    "location": {
                        "x": -1040.3240966796875,
                        "y": 3054.784912109375,
                        "z": 357.62847900390625
                    },
                    "rotation": {
                        "roll": 0.019224833697080612,
                        "pitch": -3.1191353797912598,
                        "yaw": 165.6072235107422
                    }
                },
                "velocity": {
                    "x": -7.802706718444824,
                    "y": 2.01092791557312,
                    "z": -0.4356178045272827
                },
                "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": 0.13207481801509857,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            44.55997608122673,
            6.287168435932614
        ],
        "target_point_next": [
            56.9234413739509,
            9.770194753145429
        ]
    },
    "265": {
        "acceleration": [
            -1.13037109375,
            -0.343780517578125,
            0.11869668960571289
        ],
        "angular_velocity": [
            -0.31373196840286255,
            0.986491858959198,
            3.4461283683776855
        ],
        "forward_vector": [
            -0.955912172794342,
            0.29173901677131653,
            -0.03346962481737137
        ],
        "right_vector": [
            -0.2919884920120239,
            -0.9564180374145508,
            0.002715964335948229
        ],
        "location": [
            -1077.9578857421875,
            3066.29345703125,
            355.8558654785156
        ],
        "rotation": [
            -0.1557007133960724,
            -1.918026328086853,
            163.02810668945312
        ],
        "velocity": [
            -13.039094924926758,
            3.963200569152832,
            -0.47068288922309875
        ],
        "speed": 13.628094335327448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.30976867675781,
        "front_vehicle_info": {
            "id": 5406,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1131.7320556640625,
                3097.716064453125,
                353.9942626953125
            ],
            "velocity": [
                7.8970465660095215,
                -0.07968364655971527,
                0.29583054780960083
            ],
            "speed_kmh": 28.45075459848136,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.4698486328125,
                        "y": 3094.90234375,
                        "z": 352.8282470703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.344482421875,
                        "y": 3098.400634765625,
                        "z": 352.8299865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.239013671875,
                        "y": 3101.898681640625,
                        "z": 352.8309631347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.147705078125,
                        "y": 3105.3974609375,
                        "z": 352.83148193359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4221630096435547,
                "transform": {
                    "location": {
                        "x": -1027.310546875,
                        "y": 3081.348388671875,
                        "z": 356.54693603515625
                    },
                    "rotation": {
                        "roll": -0.001953124301508069,
                        "pitch": -0.31857365369796753,
                        "yaw": 179.0439453125
                    }
                },
                "velocity": {
                    "x": -2.421922445297241,
                    "y": 0.03128042817115784,
                    "z": -0.013653869740664959
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.359719753265381,
                "transform": {
                    "location": {
                        "x": -1029.199462890625,
                        "y": 3077.873291015625,
                        "z": 356.54315185546875
                    },
                    "rotation": {
                        "roll": -0.005523681174963713,
                        "pitch": -0.18169668316841125,
                        "yaw": 179.20851135253906
                    }
                },
                "velocity": {
                    "x": -5.35916805267334,
                    "y": 0.06933277100324631,
                    "z": -0.033248309046030045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012975692749023,
                "transform": {
                    "location": {
                        "x": -1046.93994140625,
                        "y": 3074.7958984375,
                        "z": 356.3718566894531
                    },
                    "rotation": {
                        "roll": 0.0007918020128272474,
                        "pitch": -0.544741690158844,
                        "yaw": 178.7002716064453
                    }
                },
                "velocity": {
                    "x": -8.010210037231445,
                    "y": 0.18119601905345917,
                    "z": -0.10716746002435684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.66650390625,
                        "y": 3094.549072265625,
                        "z": 353.41180419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.5360107421875,
                        "y": 3098.047119140625,
                        "z": 353.4136962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.428466796875,
                        "y": 3101.545654296875,
                        "z": 353.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.3482666015625,
                        "y": 3105.044677734375,
                        "z": 353.4149169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058769226074219,
                "transform": {
                    "location": {
                        "x": -1054.544189453125,
                        "y": 3078.365966796875,
                        "z": 356.2528381347656
                    },
                    "rotation": {
                        "roll": 0.00017727474914863706,
                        "pitch": -0.9784518480300903,
                        "yaw": 178.7476348876953
                    }
                },
                "velocity": {
                    "x": -8.055608749389648,
                    "y": 0.17882630228996277,
                    "z": -0.13765038549900055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03273868560791,
                "transform": {
                    "location": {
                        "x": -1053.9979248046875,
                        "y": 3081.85498046875,
                        "z": 356.25091552734375
                    },
                    "rotation": {
                        "roll": 0.0003809185582213104,
                        "pitch": -0.9780557155609131,
                        "yaw": 178.72315979003906
                    }
                },
                "velocity": {
                    "x": -8.029608726501465,
                    "y": 0.17751196026802063,
                    "z": -0.13695894181728363
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5407,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.821800708770752,
                "transform": {
                    "location": {
                        "x": -1131.865234375,
                        "y": 3094.238037109375,
                        "z": 353.98687744140625
                    },
                    "rotation": {
                        "roll": 0.019197501242160797,
                        "pitch": 2.0785562992095947,
                        "yaw": -0.591094970703125
                    }
                },
                "velocity": {
                    "x": 7.816233158111572,
                    "y": -0.08378942310810089,
                    "z": 0.2829225957393646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5406,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.902987480163574,
                "transform": {
                    "location": {
                        "x": -1131.7320556640625,
                        "y": 3097.716064453125,
                        "z": 353.9942626953125
                    },
                    "rotation": {
                        "roll": -0.01046752743422985,
                        "pitch": 2.068645715713501,
                        "yaw": -0.6878661513328552
                    }
                },
                "velocity": {
                    "x": 7.8970465660095215,
                    "y": -0.07968364655971527,
                    "z": 0.29583054780960083
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.945052623748779,
                "transform": {
                    "location": {
                        "x": -1131.623291015625,
                        "y": 3101.20458984375,
                        "z": 353.99444580078125
                    },
                    "rotation": {
                        "roll": -0.0394897423684597,
                        "pitch": 2.0540835857391357,
                        "yaw": -0.866455078125
                    }
                },
                "velocity": {
                    "x": 7.938808441162109,
                    "y": -0.08509401977062225,
                    "z": 0.30321022868156433
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5404,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.128582954406738,
                "transform": {
                    "location": {
                        "x": -1131.5391845703125,
                        "y": 3104.704345703125,
                        "z": 354.0114440917969
                    },
                    "rotation": {
                        "roll": -0.00808715634047985,
                        "pitch": 2.075735330581665,
                        "yaw": -0.82391357421875
                    }
                },
                "velocity": {
                    "x": 8.11916446685791,
                    "y": -0.06622656434774399,
                    "z": 0.3855435848236084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.872598648071289,
                "transform": {
                    "location": {
                        "x": -1110.0458984375,
                        "y": 3076.204345703125,
                        "z": 354.78704833984375
                    },
                    "rotation": {
                        "roll": -0.0014038069639354944,
                        "pitch": -2.0652101039886475,
                        "yaw": 178.72935485839844
                    }
                },
                "velocity": {
                    "x": -15.858268737792969,
                    "y": 0.35250023007392883,
                    "z": -0.574855387210846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1317.715576171875,
                        "y": 3081.279541015625,
                        "z": 345.9577941894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1271.4559326171875,
                        "y": 3079.810302734375,
                        "z": 347.5370178222656
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.137451171875,
                        "y": 3078.887451171875,
                        "z": 349.52215576171875
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.161376953125,
                        "y": 3078.3515625,
                        "z": 350.80438232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44969367980957,
                "transform": {
                    "location": {
                        "x": -1134.965576171875,
                        "y": 3076.760986328125,
                        "z": 353.88482666015625
                    },
                    "rotation": {
                        "roll": 0.0017724339850246906,
                        "pitch": -2.1192026138305664,
                        "yaw": 178.71817016601562
                    }
                },
                "velocity": {
                    "x": -16.434619903564453,
                    "y": 0.36936187744140625,
                    "z": -0.5993892550468445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.061443328857422,
                "transform": {
                    "location": {
                        "x": -1022.8587036132812,
                        "y": 3050.60986328125,
                        "z": 358.6547546386719
                    },
                    "rotation": {
                        "roll": 0.037187885493040085,
                        "pitch": -3.4228193759918213,
                        "yaw": 167.70753479003906
                    }
                },
                "velocity": {
                    "x": -7.8566575050354,
                    "y": 1.7427338361740112,
                    "z": -0.4718826115131378
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.063394546508789,
                "transform": {
                    "location": {
                        "x": -1042.27392578125,
                        "y": 3055.2900390625,
                        "z": 357.5203552246094
                    },
                    "rotation": {
                        "roll": 0.022671859711408615,
                        "pitch": -3.0671987533569336,
                        "yaw": 165.45982360839844
                    }
                },
                "velocity": {
                    "x": -7.787655353546143,
                    "y": 2.0466301441192627,
                    "z": -0.42667996883392334
                },
                "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": 0.13229143619537354,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            41.24808221665669,
            5.812853147125739
        ],
        "target_point_next": [
            53.64907905331132,
            9.15979560675581
        ]
    },
    "270": {
        "acceleration": [
            -1.01776123046875,
            -0.5326557159423828,
            -0.05997180938720703
        ],
        "angular_velocity": [
            -0.09971436113119125,
            -0.378189355134964,
            2.6282272338867188
        ],
        "forward_vector": [
            -0.9594171643257141,
            0.280121386051178,
            -0.032414477318525314
        ],
        "right_vector": [
            -0.28035473823547363,
            -0.9598923921585083,
            0.0028001689352095127
        ],
        "location": [
            -1081.25341796875,
            3067.276123046875,
            355.7384948730469
        ],
        "rotation": [
            -0.1605224311351776,
            -1.857538104057312,
            163.7237548828125
        ],
        "velocity": [
            -13.310891151428223,
            3.868062973022461,
            -0.46684059500694275
        ],
        "speed": 13.861519916965726,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.23986053466797,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1145.487548828125,
                3098.001220703125,
                353.4884338378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.4454345703125,
                        "y": 3094.856689453125,
                        "z": 352.9054260253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.305419921875,
                        "y": 3098.35498046875,
                        "z": 352.90777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.1937255859375,
                        "y": 3101.85302734375,
                        "z": 352.908935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.11572265625,
                        "y": 3105.35205078125,
                        "z": 352.9090576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.004549503326416,
                "transform": {
                    "location": {
                        "x": -1027.9913330078125,
                        "y": 3081.357666015625,
                        "z": 356.5433654785156
                    },
                    "rotation": {
                        "roll": -0.002716063754633069,
                        "pitch": -0.3417416512966156,
                        "yaw": 179.11846923828125
                    }
                },
                "velocity": {
                    "x": -3.0042672157287598,
                    "y": 0.03807657212018967,
                    "z": -0.015706023201346397
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.902018070220947,
                "transform": {
                    "location": {
                        "x": -1030.5751953125,
                        "y": 3077.890869140625,
                        "z": 356.53424072265625
                    },
                    "rotation": {
                        "roll": -0.004241944290697575,
                        "pitch": -0.2755093276500702,
                        "yaw": 179.26034545898438
                    }
                },
                "velocity": {
                    "x": -5.901435375213623,
                    "y": 0.07414860278367996,
                    "z": -0.03714985400438309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.237290382385254,
                "transform": {
                    "location": {
                        "x": -1049.0982666015625,
                        "y": 3074.84423828125,
                        "z": 356.3426208496094
                    },
                    "rotation": {
                        "roll": 0.0012703811516985297,
                        "pitch": -0.5898072719573975,
                        "yaw": 178.71051025390625
                    }
                },
                "velocity": {
                    "x": -9.23401165008545,
                    "y": 0.20633332431316376,
                    "z": -0.13416609168052673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.62744140625,
                        "y": 3094.50341796875,
                        "z": 353.4862060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.487548828125,
                        "y": 3098.001220703125,
                        "z": 353.4884338378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.3758544921875,
                        "y": 3101.49951171875,
                        "z": 353.48968505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.2977294921875,
                        "y": 3104.998779296875,
                        "z": 353.48968505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060729026794434,
                "transform": {
                    "location": {
                        "x": -1056.558349609375,
                        "y": 3078.410888671875,
                        "z": 356.218505859375
                    },
                    "rotation": {
                        "roll": 0.0003409874625504017,
                        "pitch": -0.9810404777526855,
                        "yaw": 178.704833984375
                    }
                },
                "velocity": {
                    "x": -8.057488441467285,
                    "y": 0.1804809719324112,
                    "z": -0.1402047723531723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082305908203125,
                "transform": {
                    "location": {
                        "x": -1056.011962890625,
                        "y": 3081.899658203125,
                        "z": 356.2166442871094
                    },
                    "rotation": {
                        "roll": 0.000316945108352229,
                        "pitch": -0.9747021198272705,
                        "yaw": 178.72445678710938
                    }
                },
                "velocity": {
                    "x": -8.079129219055176,
                    "y": 0.17982640862464905,
                    "z": -0.1378324329853058
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.8733549118042,
                "transform": {
                    "location": {
                        "x": -1114.01025390625,
                        "y": 3076.292724609375,
                        "z": 354.6426086425781
                    },
                    "rotation": {
                        "roll": 0.0006361746927723289,
                        "pitch": -2.0988693237304688,
                        "yaw": 178.71958923339844
                    }
                },
                "velocity": {
                    "x": -15.858796119689941,
                    "y": 0.3541378974914551,
                    "z": -0.5801578164100647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1321.958984375,
                        "y": 3081.49658203125,
                        "z": 345.8682861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1275.6986083984375,
                        "y": 3079.905029296875,
                        "z": 347.3585510253906
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.37841796875,
                        "y": 3078.9814453125,
                        "z": 349.3051452636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.40185546875,
                        "y": 3078.44580078125,
                        "z": 350.5711364746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449718475341797,
                "transform": {
                    "location": {
                        "x": -1139.07421875,
                        "y": 3076.85302734375,
                        "z": 353.7349853515625
                    },
                    "rotation": {
                        "roll": 0.001872536027804017,
                        "pitch": -2.119475841522217,
                        "yaw": 178.71658325195312
                    }
                },
                "velocity": {
                    "x": -16.43465232849121,
                    "y": 0.36806732416152954,
                    "z": -0.5999521017074585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.047338485717773,
                "transform": {
                    "location": {
                        "x": -1024.8199462890625,
                        "y": 3051.04833984375,
                        "z": 358.5367126464844
                    },
                    "rotation": {
                        "roll": 0.048698827624320984,
                        "pitch": -3.4264461994171143,
                        "yaw": 167.37081909179688
                    }
                },
                "velocity": {
                    "x": -7.83607292175293,
                    "y": 1.769592046737671,
                    "z": -0.473459392786026
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068683624267578,
                "transform": {
                    "location": {
                        "x": -1044.220703125,
                        "y": 3055.806884765625,
                        "z": 357.41412353515625
                    },
                    "rotation": {
                        "roll": 0.026637326925992966,
                        "pitch": -3.0101871490478516,
                        "yaw": 165.11802673339844
                    }
                },
                "velocity": {
                    "x": -7.78430700302124,
                    "y": 2.0809032917022705,
                    "z": -0.42197203636169434
                },
                "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": 0.1626451015472412,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            37.876752463895386,
            5.331283135261614
        ],
        "target_point_next": [
            50.31747029218865,
            8.527419284986568
        ]
    },
    "275": {
        "acceleration": [
            -0.9471511840820312,
            -1.0883903503417969,
            0.5129224061965942
        ],
        "angular_velocity": [
            0.3642670810222626,
            0.8728769421577454,
            4.885005474090576
        ],
        "forward_vector": [
            -0.9636532664299011,
            0.2649466395378113,
            -0.03428788110613823
        ],
        "right_vector": [
            -0.2651509940624237,
            -0.964205801486969,
            0.0014745228691026568
        ],
        "location": [
            -1084.6087646484375,
            3068.22607421875,
            355.6184387207031
        ],
        "rotation": [
            -0.0845336765050888,
            -1.9649360179901123,
            164.626953125
        ],
        "velocity": [
            -13.54118537902832,
            3.683795690536499,
            -0.46487998962402344
        ],
        "speed": 14.033319356404087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.9670181274414,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1143.4566650390625,
                3097.964111328125,
                353.5638732910156
            ],
            "velocity": [
                7.922241687774658,
                -0.10352646559476852,
                0.30150723457336426
            ],
            "speed_kmh": 28.543150642600214,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.4188232421875,
                        "y": 3094.811767578125,
                        "z": 352.9823303222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.2579345703125,
                        "y": 3098.30908203125,
                        "z": 352.98553466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.12890625,
                        "y": 3101.806884765625,
                        "z": 352.9874572753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.034423828125,
                        "y": 3105.3056640625,
                        "z": 352.9880676269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6807711124420166,
                "transform": {
                    "location": {
                        "x": -1028.826171875,
                        "y": 3081.36865234375,
                        "z": 356.53814697265625
                    },
                    "rotation": {
                        "roll": -0.004455565940588713,
                        "pitch": -0.3396311402320862,
                        "yaw": 179.1827392578125
                    }
                },
                "velocity": {
                    "x": -3.680415153503418,
                    "y": 0.04611337557435036,
                    "z": -0.022231191396713257
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.866550445556641,
                "transform": {
                    "location": {
                        "x": -1032.3665771484375,
                        "y": 3077.9150390625,
                        "z": 356.523193359375
                    },
                    "rotation": {
                        "roll": 0.0061858827248215675,
                        "pitch": -0.1128552109003067,
                        "yaw": 179.19273376464844
                    }
                },
                "velocity": {
                    "x": -7.865474224090576,
                    "y": 0.12058394402265549,
                    "z": -0.0488884299993515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.512849807739258,
                "transform": {
                    "location": {
                        "x": -1051.5706787109375,
                        "y": 3074.8994140625,
                        "z": 356.30517578125
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": -0.7800280451774597,
                        "yaw": 178.74221801757812
                    }
                },
                "velocity": {
                    "x": -10.509002685546875,
                    "y": 0.2328307330608368,
                    "z": -0.1632586121559143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.907546520233154,
                "transform": {
                    "location": {
                        "x": -1143.615478515625,
                        "y": 3094.474365234375,
                        "z": 353.5586242675781
                    },
                    "rotation": {
                        "roll": 0.0026818502228707075,
                        "pitch": 2.068946123123169,
                        "yaw": -0.788177490234375
                    }
                },
                "velocity": {
                    "x": 7.901594161987305,
                    "y": -0.10815396159887314,
                    "z": 0.2870543301105499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.928653240203857,
                "transform": {
                    "location": {
                        "x": -1143.4566650390625,
                        "y": 3097.964111328125,
                        "z": 353.5638732910156
                    },
                    "rotation": {
                        "roll": 0.02482680417597294,
                        "pitch": 2.115924119949341,
                        "yaw": -1.0181883573532104
                    }
                },
                "velocity": {
                    "x": 7.922241687774658,
                    "y": -0.10352646559476852,
                    "z": 0.30150723457336426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.173163414001465,
                "transform": {
                    "location": {
                        "x": -1143.318359375,
                        "y": 3101.45703125,
                        "z": 353.5640563964844
                    },
                    "rotation": {
                        "roll": -0.0391845628619194,
                        "pitch": 2.0266058444976807,
                        "yaw": -1.1513975858688354
                    }
                },
                "velocity": {
                    "x": 8.167099952697754,
                    "y": -0.12995561957359314,
                    "z": 0.2866828739643097
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.2164306640625,
                        "y": 3104.9521484375,
                        "z": 353.5655517578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059510231018066,
                "transform": {
                    "location": {
                        "x": -1058.5718994140625,
                        "y": 3078.45556640625,
                        "z": 356.1826477050781
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": -1.0586246252059937,
                        "yaw": 178.73873901367188
                    }
                },
                "velocity": {
                    "x": -8.056236267089844,
                    "y": 0.18003088235855103,
                    "z": -0.1426614373922348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031496047973633,
                "transform": {
                    "location": {
                        "x": -1058.0247802734375,
                        "y": 3081.944580078125,
                        "z": 356.1812438964844
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -1.0266046524047852,
                        "yaw": 178.72152709960938
                    }
                },
                "velocity": {
                    "x": -8.028199195861816,
                    "y": 0.17773988842964172,
                    "z": -0.14615066349506378
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873272895812988,
                "transform": {
                    "location": {
                        "x": -1117.974853515625,
                        "y": 3076.381103515625,
                        "z": 354.4977722167969
                    },
                    "rotation": {
                        "roll": -0.0004577665822580457,
                        "pitch": -2.094019889831543,
                        "yaw": 178.72378540039062
                    }
                },
                "velocity": {
                    "x": -15.858739852905273,
                    "y": 0.35341891646385193,
                    "z": -0.579881489276886
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.20166015625,
                        "y": 3081.7275390625,
                        "z": 345.7915954589844
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1279.9410400390625,
                        "y": 3080.0,
                        "z": 347.1880798339844
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.6185302734375,
                        "y": 3079.076416015625,
                        "z": 349.0914306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.64111328125,
                        "y": 3078.540771484375,
                        "z": 350.34033203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44972038269043,
                "transform": {
                    "location": {
                        "x": -1143.182861328125,
                        "y": 3076.944580078125,
                        "z": 353.58514404296875
                    },
                    "rotation": {
                        "roll": 0.0009930399246513844,
                        "pitch": -2.1202340126037598,
                        "yaw": 178.71788024902344
                    }
                },
                "velocity": {
                    "x": -16.434635162353516,
                    "y": 0.36929115653038025,
                    "z": -0.5997470021247864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.065899848937988,
                "transform": {
                    "location": {
                        "x": -1026.7813720703125,
                        "y": 3051.4921875,
                        "z": 358.41851806640625
                    },
                    "rotation": {
                        "roll": 0.021405857056379318,
                        "pitch": -3.4281673431396484,
                        "yaw": 167.2327880859375
                    }
                },
                "velocity": {
                    "x": -7.851830959320068,
                    "y": 1.7843356132507324,
                    "z": -0.4729089140892029
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065654754638672,
                "transform": {
                    "location": {
                        "x": -1046.1663818359375,
                        "y": 3056.3291015625,
                        "z": 357.3099670410156
                    },
                    "rotation": {
                        "roll": 0.007483768276870251,
                        "pitch": -2.957458019256592,
                        "yaw": 164.97032165527344
                    }
                },
                "velocity": {
                    "x": -7.778204917907715,
                    "y": 2.093600034713745,
                    "z": -0.41369274258613586
                },
                "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": 0.20282664895057678,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            34.46895870810463,
            4.760000948842014
        ],
        "target_point_next": [
            46.958513299017575,
            7.759629674434194
        ]
    },
    "280": {
        "acceleration": [
            -0.6300544738769531,
            -1.5035009384155273,
            0.39139866828918457
        ],
        "angular_velocity": [
            -0.5533811450004578,
            0.478561133146286,
            6.409748077392578
        ],
        "forward_vector": [
            -0.9703564047813416,
            0.24023082852363586,
            -0.02641179785132408
        ],
        "right_vector": [
            -0.2403809279203415,
            -0.9706751108169556,
            0.0026159065309911966
        ],
        "location": [
            -1088.021240234375,
            3069.113037109375,
            355.5087890625
        ],
        "rotation": [
            -0.1499328911304474,
            -1.5134605169296265,
            166.0948944091797
        ],
        "velocity": [
            -13.717508316040039,
            3.352872610092163,
            -0.39155349135398865
        ],
        "speed": 14.121323915983723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.76456069946289,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1141.481201171875,
                3097.937744140625,
                353.6378173828125
            ],
            "velocity": [
                7.885298252105713,
                -0.09526747465133667,
                0.28942033648490906
            ],
            "speed_kmh": 28.408258664979154,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.4344482421875,
                        "y": 3094.76708984375,
                        "z": 353.0550842285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.28173828125,
                        "y": 3098.264892578125,
                        "z": 353.0578918457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.1170654296875,
                        "y": 3101.76220703125,
                        "z": 353.0611267089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.0137939453125,
                        "y": 3105.26025390625,
                        "z": 353.06201171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.573727607727051,
                "transform": {
                    "location": {
                        "x": -1029.8587646484375,
                        "y": 3081.382080078125,
                        "z": 356.5316467285156
                    },
                    "rotation": {
                        "roll": -0.003387450473383069,
                        "pitch": -0.33023279905319214,
                        "yaw": 179.23377990722656
                    }
                },
                "velocity": {
                    "x": -4.57328987121582,
                    "y": 0.05629587545990944,
                    "z": -0.02885851263999939
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.295097351074219,
                "transform": {
                    "location": {
                        "x": -1034.4173583984375,
                        "y": 3077.948486328125,
                        "z": 356.5082092285156
                    },
                    "rotation": {
                        "roll": 0.004210892133414745,
                        "pitch": -0.3457031846046448,
                        "yaw": 179.0721893310547
                    }
                },
                "velocity": {
                    "x": -8.29366683959961,
                    "y": 0.13929852843284607,
                    "z": -0.06577464193105698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.449808120727539,
                "transform": {
                    "location": {
                        "x": -1054.2901611328125,
                        "y": 3074.959716796875,
                        "z": 356.2589416503906
                    },
                    "rotation": {
                        "roll": -0.00015258826897479594,
                        "pitch": -0.8145751357078552,
                        "yaw": 178.72898864746094
                    }
                },
                "velocity": {
                    "x": -11.445279121398926,
                    "y": 0.2549346685409546,
                    "z": -0.1967407912015915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.002099990844727,
                "transform": {
                    "location": {
                        "x": -1141.6278076171875,
                        "y": 3094.44775390625,
                        "z": 353.630859375
                    },
                    "rotation": {
                        "roll": 0.01376218069344759,
                        "pitch": 2.0858030319213867,
                        "yaw": -0.7463988661766052
                    }
                },
                "velocity": {
                    "x": 7.996137619018555,
                    "y": -0.10334786772727966,
                    "z": 0.29104986786842346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.891182899475098,
                "transform": {
                    "location": {
                        "x": -1141.481201171875,
                        "y": 3097.937744140625,
                        "z": 353.6378173828125
                    },
                    "rotation": {
                        "roll": 0.021619347855448723,
                        "pitch": 2.0921072959899902,
                        "yaw": -0.7885437607765198
                    }
                },
                "velocity": {
                    "x": 7.885298252105713,
                    "y": -0.09526747465133667,
                    "z": 0.28942033648490906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.876287460327148,
                "transform": {
                    "location": {
                        "x": -1141.3148193359375,
                        "y": 3101.4287109375,
                        "z": 353.6346435546875
                    },
                    "rotation": {
                        "roll": -0.029754633083939552,
                        "pitch": 2.050210952758789,
                        "yaw": -0.7908935546875
                    }
                },
                "velocity": {
                    "x": 7.870721340179443,
                    "y": -0.09546420723199844,
                    "z": 0.28025034070014954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9559502601623535,
                "transform": {
                    "location": {
                        "x": -1141.2113037109375,
                        "y": 3104.916259765625,
                        "z": 353.634521484375
                    },
                    "rotation": {
                        "roll": 0.008540418930351734,
                        "pitch": 2.084717035293579,
                        "yaw": -0.9519041776657104
                    }
                },
                "velocity": {
                    "x": 7.950417518615723,
                    "y": -0.10367503017187119,
                    "z": 0.27795645594596863
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060898780822754,
                "transform": {
                    "location": {
                        "x": -1060.5859375,
                        "y": 3078.50048828125,
                        "z": 356.14556884765625
                    },
                    "rotation": {
                        "roll": 1.6772481103544123e-05,
                        "pitch": -1.0837392807006836,
                        "yaw": 178.70706176757812
                    }
                },
                "velocity": {
                    "x": -8.05746841430664,
                    "y": 0.1806095391511917,
                    "z": -0.1505805104970932
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08407211303711,
                "transform": {
                    "location": {
                        "x": -1060.038330078125,
                        "y": 3081.989501953125,
                        "z": 356.1445617675781
                    },
                    "rotation": {
                        "roll": -9.15535056265071e-05,
                        "pitch": -1.0814510583877563,
                        "yaw": 178.71914672851562
                    }
                },
                "velocity": {
                    "x": -8.080618858337402,
                    "y": 0.18056529760360718,
                    "z": -0.1523669809103012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873193740844727,
                "transform": {
                    "location": {
                        "x": -1121.939453125,
                        "y": 3076.469970703125,
                        "z": 354.35308837890625
                    },
                    "rotation": {
                        "roll": -0.0012817385140806437,
                        "pitch": -2.092592239379883,
                        "yaw": 178.71835327148438
                    }
                },
                "velocity": {
                    "x": -15.858640670776367,
                    "y": 0.3546792268753052,
                    "z": -0.5796501636505127
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5393,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1330.44384765625,
                        "y": 3081.97314453125,
                        "z": 345.72772216796875
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.182861328125,
                        "y": 3080.09423828125,
                        "z": 347.02362060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.85791015625,
                        "y": 3079.171142578125,
                        "z": 348.8806457519531
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.8797607421875,
                        "y": 3078.635498046875,
                        "z": 350.1127014160156
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4497013092041,
                "transform": {
                    "location": {
                        "x": -1147.29150390625,
                        "y": 3077.0361328125,
                        "z": 353.435302734375
                    },
                    "rotation": {
                        "roll": 0.0031336075626313686,
                        "pitch": -2.1189842224121094,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -16.434635162353516,
                    "y": 0.36958178877830505,
                    "z": -0.59903484582901
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046486854553223,
                "transform": {
                    "location": {
                        "x": -1028.7401123046875,
                        "y": 3051.94482421875,
                        "z": 358.30029296875
                    },
                    "rotation": {
                        "roll": 0.05613107234239578,
                        "pitch": -3.4244654178619385,
                        "yaw": 166.9305419921875
                    }
                },
                "velocity": {
                    "x": -7.8196916580200195,
                    "y": 1.8369741439819336,
                    "z": -0.4731731414794922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066558837890625,
                "transform": {
                    "location": {
                        "x": -1048.1092529296875,
                        "y": 3056.85986328125,
                        "z": 357.2077941894531
                    },
                    "rotation": {
                        "roll": 0.027068065479397774,
                        "pitch": -2.904148578643799,
                        "yaw": 164.66810607910156
                    }
                },
                "velocity": {
                    "x": -7.764851093292236,
                    "y": 2.147096872329712,
                    "z": -0.4079633355140686
                },
                "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": 0.22099490463733673,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            31.05396327056573,
            3.9163304589516565
        ],
        "target_point_next": [
            43.616262425832225,
            6.595021614046473
        ]
    },
    "285": {
        "acceleration": [
            -0.7528495788574219,
            -1.629185676574707,
            -0.14886438846588135
        ],
        "angular_velocity": [
            0.159457266330719,
            -0.36241158843040466,
            7.809326171875
        ],
        "forward_vector": [
            -0.9773886203765869,
            0.20931100845336914,
            -0.030006669461727142
        ],
        "right_vector": [
            -0.20946142077445984,
            -0.9778150320053101,
            0.0019251288613304496
        ],
        "location": [
            -1091.4698486328125,
            3069.9052734375,
            355.4089660644531
        ],
        "rotation": [
            -0.11035151779651642,
            -1.7195136547088623,
            167.91249084472656
        ],
        "velocity": [
            -13.89832592010498,
            2.943387985229492,
            -0.41151100397109985
        ],
        "speed": 14.206582847858076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.65412902832031,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1139.5325927734375,
                3097.91357421875,
                353.708984375
            ],
            "velocity": [
                7.710196495056152,
                -0.09036142379045486,
                0.2812754213809967
            ],
            "speed_kmh": 27.777076287899423,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.868896484375,
                        "y": 3095.0673828125,
                        "z": 352.7729187011719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.78955078125,
                        "y": 3098.566162109375,
                        "z": 352.7727966308594
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.698974609375,
                        "y": 3102.065185546875,
                        "z": 352.7711181640625
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0177001953125,
                        "y": 3105.572998046875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.624523162841797,
                "transform": {
                    "location": {
                        "x": -1155.4761962890625,
                        "y": 3094.724609375,
                        "z": 353.126708984375
                    },
                    "rotation": {
                        "roll": -0.015258788131177425,
                        "pitch": 2.0548691749572754,
                        "yaw": -1.21185302734375
                    }
                },
                "velocity": {
                    "x": 7.61844539642334,
                    "y": -0.12940797209739685,
                    "z": 0.27549561858177185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.328369140625,
                        "y": 3098.220458984375,
                        "z": 353.12939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.140625,
                        "y": 3101.7177734375,
                        "z": 353.1334228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.0338134765625,
                        "y": 3105.2158203125,
                        "z": 353.134521484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.256628036499023,
                "transform": {
                    "location": {
                        "x": -1031.1168212890625,
                        "y": 3081.397705078125,
                        "z": 356.5240478515625
                    },
                    "rotation": {
                        "roll": -0.0033264150843024254,
                        "pitch": -0.333074152469635,
                        "yaw": 179.26251220703125
                    }
                },
                "velocity": {
                    "x": -5.256133079528809,
                    "y": 0.06432002782821655,
                    "z": -0.03266575187444687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.917405605316162,
                "transform": {
                    "location": {
                        "x": -1036.434814453125,
                        "y": 3077.9833984375,
                        "z": 356.4911193847656
                    },
                    "rotation": {
                        "roll": 0.0008316118037328124,
                        "pitch": -0.5964052677154541,
                        "yaw": 178.98060607910156
                    }
                },
                "velocity": {
                    "x": -7.915781021118164,
                    "y": 0.14046639204025269,
                    "z": -0.07743030041456223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.651107788085938,
                "transform": {
                    "location": {
                        "x": -1057.3182373046875,
                        "y": 3075.02685546875,
                        "z": 356.2069091796875
                    },
                    "rotation": {
                        "roll": -0.0001831044937716797,
                        "pitch": -0.8126831650733948,
                        "yaw": 178.73382568359375
                    }
                },
                "velocity": {
                    "x": -12.64602279663086,
                    "y": 0.2800486385822296,
                    "z": -0.22407253086566925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.698603630065918,
                "transform": {
                    "location": {
                        "x": -1139.6680908203125,
                        "y": 3094.42236328125,
                        "z": 353.70220947265625
                    },
                    "rotation": {
                        "roll": 0.01829180121421814,
                        "pitch": 2.08253812789917,
                        "yaw": -0.7434081435203552
                    }
                },
                "velocity": {
                    "x": 7.692816734313965,
                    "y": -0.09945131838321686,
                    "z": 0.28138425946235657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.715854167938232,
                "transform": {
                    "location": {
                        "x": -1139.5325927734375,
                        "y": 3097.91357421875,
                        "z": 353.708984375
                    },
                    "rotation": {
                        "roll": 0.021489115431904793,
                        "pitch": 2.0900514125823975,
                        "yaw": -0.7088623046875
                    }
                },
                "velocity": {
                    "x": 7.710196495056152,
                    "y": -0.09036142379045486,
                    "z": 0.2812754213809967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.970067501068115,
                "transform": {
                    "location": {
                        "x": -1139.3348388671875,
                        "y": 3101.4052734375,
                        "z": 353.705810546875
                    },
                    "rotation": {
                        "roll": -0.004241944290697575,
                        "pitch": 2.077408790588379,
                        "yaw": -0.6547850966453552
                    }
                },
                "velocity": {
                    "x": 7.964440822601318,
                    "y": -0.08642686903476715,
                    "z": 0.2866932451725006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.885502338409424,
                "transform": {
                    "location": {
                        "x": -1139.2327880859375,
                        "y": 3104.891845703125,
                        "z": 353.70538330078125
                    },
                    "rotation": {
                        "roll": 0.021427739411592484,
                        "pitch": 2.087510585784912,
                        "yaw": -0.627655029296875
                    }
                },
                "velocity": {
                    "x": 7.87994909286499,
                    "y": -0.07461212575435638,
                    "z": 0.2863291800022125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060747146606445,
                "transform": {
                    "location": {
                        "x": -1062.60009765625,
                        "y": 3078.545654296875,
                        "z": 356.107421875
                    },
                    "rotation": {
                        "roll": -0.0011291506234556437,
                        "pitch": -1.0964365005493164,
                        "yaw": 178.74038696289062
                    }
                },
                "velocity": {
                    "x": -8.05728816986084,
                    "y": 0.1789236217737198,
                    "z": -0.15407755970954895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031656265258789,
                "transform": {
                    "location": {
                        "x": -1062.051513671875,
                        "y": 3082.03466796875,
                        "z": 356.1065673828125
                    },
                    "rotation": {
                        "roll": -9.15535565582104e-05,
                        "pitch": -1.0829741954803467,
                        "yaw": 178.7193145751953
                    }
                },
                "velocity": {
                    "x": -8.028166770935059,
                    "y": 0.17952947318553925,
                    "z": -0.15431194007396698
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873176574707031,
                "transform": {
                    "location": {
                        "x": -1125.9041748046875,
                        "y": 3076.55859375,
                        "z": 354.20849609375
                    },
                    "rotation": {
                        "roll": -0.00012206931569380686,
                        "pitch": -2.0925307273864746,
                        "yaw": 178.7176971435547
                    }
                },
                "velocity": {
                    "x": -15.85864543914795,
                    "y": 0.35491839051246643,
                    "z": -0.5789098739624023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.427001953125,
                        "y": 3080.194580078125,
                        "z": 346.86712646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.098876953125,
                        "y": 3079.26611328125,
                        "z": 348.67254638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.118896484375,
                        "y": 3078.73046875,
                        "z": 349.8879089355469
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44969940185547,
                "transform": {
                    "location": {
                        "x": -1151.400146484375,
                        "y": 3077.128173828125,
                        "z": 353.2855529785156
                    },
                    "rotation": {
                        "roll": 0.003841929603368044,
                        "pitch": -2.119448661804199,
                        "yaw": 178.7140655517578
                    }
                },
                "velocity": {
                    "x": -16.43460464477539,
                    "y": 0.37061867117881775,
                    "z": -0.599199116230011
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.064431190490723,
                "transform": {
                    "location": {
                        "x": -1030.6971435546875,
                        "y": 3052.40576171875,
                        "z": 358.1824645996094
                    },
                    "rotation": {
                        "roll": 0.03580067306756973,
                        "pitch": -3.409944534301758,
                        "yaw": 166.71868896484375
                    }
                },
                "velocity": {
                    "x": -7.833655834197998,
                    "y": 1.8568041324615479,
                    "z": -0.47028037905693054
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064045906066895,
                "transform": {
                    "location": {
                        "x": -1050.0499267578125,
                        "y": 3057.3994140625,
                        "z": 357.1075744628906
                    },
                    "rotation": {
                        "roll": 0.014935393817722797,
                        "pitch": -2.8438992500305176,
                        "yaw": 164.4539031982422
                    }
                },
                "velocity": {
                    "x": -7.7576727867126465,
                    "y": 2.1653337478637695,
                    "z": -0.3983452618122101
                },
                "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": 0.22678010165691376,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            27.624508483193388,
            2.98191665454702
        ],
        "target_point_next": [
            40.265449060459154,
            5.2608128112045325
        ]
    },
    "290": {
        "acceleration": [
            -0.6842041015625,
            -1.6938209533691406,
            0.006921291351318359
        ],
        "angular_velocity": [
            -0.7978135943412781,
            0.12168975174427032,
            7.3171539306640625
        ],
        "forward_vector": [
            -0.9838058948516846,
            0.1768484115600586,
            -0.02916482463479042
        ],
        "right_vector": [
            -0.177011176943779,
            -0.9842040538787842,
            0.0030762345995754004
        ],
        "location": [
            -1094.968994140625,
            3070.5908203125,
            355.3028869628906
        ],
        "rotation": [
            -0.1763305515050888,
            -1.6712584495544434,
            169.8093719482422
        ],
        "velocity": [
            -14.08879280090332,
            2.509495258331299,
            -0.4236043393611908
        ],
        "speed": 14.31054328243245,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.681419372558594,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1137.64404296875,
                3097.8876953125,
                353.7773742675781
            ],
            "velocity": [
                6.86184549331665,
                -0.10961267352104187,
                0.249787375330925
            ],
            "speed_kmh": 24.722154960643426,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.966552734375,
                        "y": 3095.024658203125,
                        "z": 352.64697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.1241455078125,
                        "y": 3098.529541015625,
                        "z": 352.6000061035156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.7628173828125,
                        "y": 3102.021728515625,
                        "z": 352.64251708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.077880859375,
                        "y": 3105.529541015625,
                        "z": 352.62640380859375
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5805158615112305,
                "transform": {
                    "location": {
                        "x": -1153.5643310546875,
                        "y": 3094.7001953125,
                        "z": 353.1957092285156
                    },
                    "rotation": {
                        "roll": 0.008431571535766125,
                        "pitch": 2.0618631839752197,
                        "yaw": -0.721038818359375
                    }
                },
                "velocity": {
                    "x": 7.574898719787598,
                    "y": -0.09734947234392166,
                    "z": 0.27506139874458313
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.80399751663208,
                "transform": {
                    "location": {
                        "x": -1153.8035888671875,
                        "y": 3098.19580078125,
                        "z": 353.17779541015625
                    },
                    "rotation": {
                        "roll": 0.007197270635515451,
                        "pitch": 2.02083420753479,
                        "yaw": -0.961212158203125
                    }
                },
                "velocity": {
                    "x": 5.800422668457031,
                    "y": -0.07482753694057465,
                    "z": 0.18944676220417023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.601656913757324,
                "transform": {
                    "location": {
                        "x": -1153.19921875,
                        "y": 3101.682373046875,
                        "z": 353.2197570800781
                    },
                    "rotation": {
                        "roll": -0.006072998978197575,
                        "pitch": 2.0681607723236084,
                        "yaw": -0.9919129014015198
                    }
                },
                "velocity": {
                    "x": 7.591208457946777,
                    "y": -0.09843173623085022,
                    "z": 0.38607391715049744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.134045124053955,
                "transform": {
                    "location": {
                        "x": -1153.1986083984375,
                        "y": 3105.17529296875,
                        "z": 353.2044982910156
                    },
                    "rotation": {
                        "roll": -0.010467532090842724,
                        "pitch": 1.8171308040618896,
                        "yaw": -1.2423402070999146
                    }
                },
                "velocity": {
                    "x": 6.1284074783325195,
                    "y": -0.11300536245107651,
                    "z": 0.23739884793758392
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.789586067199707,
                "transform": {
                    "location": {
                        "x": -1032.4798583984375,
                        "y": 3081.415771484375,
                        "z": 356.5155029296875
                    },
                    "rotation": {
                        "roll": -0.0012512202374637127,
                        "pitch": -0.34008875489234924,
                        "yaw": 179.2095489501953
                    }
                },
                "velocity": {
                    "x": -5.788780212402344,
                    "y": 0.08976126462221146,
                    "z": -0.03567245975136757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077893257141113,
                "transform": {
                    "location": {
                        "x": -1038.4267578125,
                        "y": 3078.0205078125,
                        "z": 356.47113037109375
                    },
                    "rotation": {
                        "roll": 0.0038908179849386215,
                        "pitch": -0.5549665093421936,
                        "yaw": 178.92543029785156
                    }
                },
                "velocity": {
                    "x": -8.075956344604492,
                    "y": 0.15723097324371338,
                    "z": -0.08103132247924805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.621733665466309,
                "transform": {
                    "location": {
                        "x": -1060.6063232421875,
                        "y": 3075.099609375,
                        "z": 356.147216796875
                    },
                    "rotation": {
                        "roll": -0.0006408700137399137,
                        "pitch": -0.9218432903289795,
                        "yaw": 178.72764587402344
                    }
                },
                "velocity": {
                    "x": -13.615964889526367,
                    "y": 0.3025650382041931,
                    "z": -0.2560528516769409
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.421854019165039,
                "transform": {
                    "location": {
                        "x": -1137.8526611328125,
                        "y": 3094.396240234375,
                        "z": 353.76824951171875
                    },
                    "rotation": {
                        "roll": 0.02157866768538952,
                        "pitch": 1.9130812883377075,
                        "yaw": -0.83087158203125
                    }
                },
                "velocity": {
                    "x": 6.416822910308838,
                    "y": -0.09973654896020889,
                    "z": 0.23375840485095978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.867265224456787,
                "transform": {
                    "location": {
                        "x": -1137.64404296875,
                        "y": 3097.8876953125,
                        "z": 353.7773742675781
                    },
                    "rotation": {
                        "roll": 0.01212640292942524,
                        "pitch": 2.147855281829834,
                        "yaw": -0.8038024306297302
                    }
                },
                "velocity": {
                    "x": 6.86184549331665,
                    "y": -0.10961267352104187,
                    "z": 0.249787375330925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.66926908493042,
                "transform": {
                    "location": {
                        "x": -1137.3826904296875,
                        "y": 3101.37890625,
                        "z": 353.77667236328125
                    },
                    "rotation": {
                        "roll": 0.029676400125026703,
                        "pitch": 2.0763638019561768,
                        "yaw": -0.7780454754829407
                    }
                },
                "velocity": {
                    "x": 7.6633806228637695,
                    "y": -0.11079255491495132,
                    "z": 0.2793063223361969
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.741034030914307,
                "transform": {
                    "location": {
                        "x": -1137.281494140625,
                        "y": 3104.869384765625,
                        "z": 353.7765197753906
                    },
                    "rotation": {
                        "roll": 0.023437054827809334,
                        "pitch": 2.0878725051879883,
                        "yaw": -0.6464844346046448
                    }
                },
                "velocity": {
                    "x": 7.735255718231201,
                    "y": -0.0977318063378334,
                    "z": 0.2826133966445923
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060982704162598,
                "transform": {
                    "location": {
                        "x": -1064.6141357421875,
                        "y": 3078.59033203125,
                        "z": 356.06878662109375
                    },
                    "rotation": {
                        "roll": -0.000946044223383069,
                        "pitch": -1.1219745874404907,
                        "yaw": 178.7135467529297
                    }
                },
                "velocity": {
                    "x": -8.057485580444336,
                    "y": 0.17961785197257996,
                    "z": -0.15523940324783325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.084299087524414,
                "transform": {
                    "location": {
                        "x": -1064.0653076171875,
                        "y": 3082.07958984375,
                        "z": 356.0679626464844
                    },
                    "rotation": {
                        "roll": 0.0009547288645990193,
                        "pitch": -1.1151717901229858,
                        "yaw": 178.7193145751953
                    }
                },
                "velocity": {
                    "x": -8.080775260925293,
                    "y": 0.18074041604995728,
                    "z": -0.15587326884269714
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873189926147461,
                "transform": {
                    "location": {
                        "x": -1129.8687744140625,
                        "y": 3076.6474609375,
                        "z": 354.06390380859375
                    },
                    "rotation": {
                        "roll": -0.0003967306693084538,
                        "pitch": -2.092592239379883,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -15.858675956726074,
                    "y": 0.3550107777118683,
                    "z": -0.5783819556236267
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1292.672607421875,
                        "y": 3080.307861328125,
                        "z": 346.7171936035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1251.3421630859375,
                        "y": 3079.36083984375,
                        "z": 348.4660949707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1227.3616943359375,
                        "y": 3078.8251953125,
                        "z": 349.6658630371094
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449703216552734,
                "transform": {
                    "location": {
                        "x": -1155.5087890625,
                        "y": 3077.219970703125,
                        "z": 353.1357421875
                    },
                    "rotation": {
                        "roll": -3.05199391732458e-05,
                        "pitch": -2.119318723678589,
                        "yaw": 178.72352600097656
                    }
                },
                "velocity": {
                    "x": -16.434669494628906,
                    "y": 0.36664721369743347,
                    "z": -0.5999521613121033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.044892311096191,
                "transform": {
                    "location": {
                        "x": -1032.6534423828125,
                        "y": 3052.87109375,
                        "z": 358.0655517578125
                    },
                    "rotation": {
                        "roll": 0.0369170606136322,
                        "pitch": -3.3685944080352783,
                        "yaw": 166.605712890625
                    }
                },
                "velocity": {
                    "x": -7.8063483238220215,
                    "y": 1.8888424634933472,
                    "z": -0.46206381916999817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065384864807129,
                "transform": {
                    "location": {
                        "x": -1051.9896240234375,
                        "y": 3057.942626953125,
                        "z": 357.00921630859375
                    },
                    "rotation": {
                        "roll": 0.02014021947979927,
                        "pitch": -2.791532278060913,
                        "yaw": 164.33126831054688
                    }
                },
                "velocity": {
                    "x": -7.75016450881958,
                    "y": 2.1988937854766846,
                    "z": -0.3876212239265442
                },
                "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": 0.22151798009872437,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            24.142839049481957,
            2.121554690481283
        ],
        "target_point_next": [
            36.85228494183841,
            3.9807834230625927
        ]
    },
    "295": {
        "acceleration": [
            -0.49938201904296875,
            -1.5909910202026367,
            -0.1861131191253662
        ],
        "angular_velocity": [
            -0.23042410612106323,
            -0.3741609454154968,
            6.48811149597168
        ],
        "forward_vector": [
            -0.9884931445121765,
            0.14786769449710846,
            -0.031882718205451965
        ],
        "right_vector": [
            -0.14808958768844604,
            -0.9889627695083618,
            0.004701798316091299
        ],
        "location": [
            -1098.5050048828125,
            3071.171875,
            355.193115234375
        ],
        "rotation": [
            -0.2695312201976776,
            -1.8270549774169922,
            171.4922637939453
        ],
        "velocity": [
            -14.21194839477539,
            2.1112351417541504,
            -0.4550971984863281
        ],
        "speed": 14.367908372464534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.08003616333008,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1136.04345703125,
                3097.862548828125,
                353.835693359375
            ],
            "velocity": [
                6.214425563812256,
                -0.10076812654733658,
                0.2261079102754593
            ],
            "speed_kmh": 22.389674374897023,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.197998046875,
                        "y": 3094.98486328125,
                        "z": 352.702880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.67724609375,
                        "y": 3098.496826171875,
                        "z": 352.6578369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.879638671875,
                        "y": 3101.979736328125,
                        "z": 352.70452880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.5054931640625,
                        "y": 3105.494384765625,
                        "z": 352.67926025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.515997409820557,
                "transform": {
                    "location": {
                        "x": -1151.828857421875,
                        "y": 3094.677734375,
                        "z": 353.2586975097656
                    },
                    "rotation": {
                        "roll": 0.017316138371825218,
                        "pitch": 1.9867379665374756,
                        "yaw": -0.7423706650733948
                    }
                },
                "velocity": {
                    "x": 6.5111565589904785,
                    "y": -0.08527620881795883,
                    "z": 0.2362011820077896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.7787861824035645,
                "transform": {
                    "location": {
                        "x": -1152.3565673828125,
                        "y": 3098.176513671875,
                        "z": 353.2275390625
                    },
                    "rotation": {
                        "roll": 0.016185246407985687,
                        "pitch": 2.0726823806762695,
                        "yaw": -0.800537109375
                    }
                },
                "velocity": {
                    "x": 5.774656772613525,
                    "y": -0.0724218338727951,
                    "z": 0.20606058835983276
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.206382751464844,
                "transform": {
                    "location": {
                        "x": -1151.327880859375,
                        "y": 3101.6572265625,
                        "z": 353.3033142089844
                    },
                    "rotation": {
                        "roll": 0.014029030688107014,
                        "pitch": 2.0432987213134766,
                        "yaw": -0.751617431640625
                    }
                },
                "velocity": {
                    "x": 7.200071811676025,
                    "y": -0.08535708487033844,
                    "z": 0.28919461369514465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.282513618469238,
                "transform": {
                    "location": {
                        "x": -1151.6456298828125,
                        "y": 3105.150146484375,
                        "z": 353.26361083984375
                    },
                    "rotation": {
                        "roll": -0.0169677771627903,
                        "pitch": 1.921202301979065,
                        "yaw": -0.938201904296875
                    }
                },
                "velocity": {
                    "x": 6.277565956115723,
                    "y": -0.07792462408542633,
                    "z": 0.23678983747959137
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.01447057723999,
                "transform": {
                    "location": {
                        "x": -1034.0965576171875,
                        "y": 3081.44140625,
                        "z": 356.50335693359375
                    },
                    "rotation": {
                        "roll": -0.001983641879633069,
                        "pitch": -0.4025508463382721,
                        "yaw": 179.1116943359375
                    }
                },
                "velocity": {
                    "x": -7.013174057006836,
                    "y": 0.11983474344015121,
                    "z": -0.06191141903400421
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.09064769744873,
                "transform": {
                    "location": {
                        "x": -1040.45556640625,
                        "y": 3078.061279296875,
                        "z": 356.4510803222656
                    },
                    "rotation": {
                        "roll": 0.0032688456121832132,
                        "pitch": -0.5607243776321411,
                        "yaw": 178.83409118652344
                    }
                },
                "velocity": {
                    "x": -8.08858871459961,
                    "y": 0.1640670746564865,
                    "z": -0.08002673834562302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.556090354919434,
                "transform": {
                    "location": {
                        "x": -1064.1317138671875,
                        "y": 3075.178466796875,
                        "z": 356.0799865722656
                    },
                    "rotation": {
                        "roll": -3.051756357308477e-05,
                        "pitch": -0.9649895429611206,
                        "yaw": 178.7218017578125
                    }
                },
                "velocity": {
                    "x": -14.549787521362305,
                    "y": 0.3264477550983429,
                    "z": -0.27727076411247253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.256631851196289,
                "transform": {
                    "location": {
                        "x": -1136.2977294921875,
                        "y": 3094.37109375,
                        "z": 353.8250427246094
                    },
                    "rotation": {
                        "roll": 0.016621600836515427,
                        "pitch": 2.0334222316741943,
                        "yaw": -0.9136655926704407
                    }
                },
                "velocity": {
                    "x": 6.251611232757568,
                    "y": -0.10385460406541824,
                    "z": 0.22806188464164734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.219353675842285,
                "transform": {
                    "location": {
                        "x": -1136.04345703125,
                        "y": 3097.862548828125,
                        "z": 353.835693359375
                    },
                    "rotation": {
                        "roll": 0.013009266927838326,
                        "pitch": 2.151536703109741,
                        "yaw": -0.8795775771141052
                    }
                },
                "velocity": {
                    "x": 6.214425563812256,
                    "y": -0.10076812654733658,
                    "z": 0.2261079102754593
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.815384387969971,
                "transform": {
                    "location": {
                        "x": -1135.79736328125,
                        "y": 3101.35595703125,
                        "z": 353.8360900878906
                    },
                    "rotation": {
                        "roll": 0.026175059378147125,
                        "pitch": 1.6184883117675781,
                        "yaw": -0.8447266221046448
                    }
                },
                "velocity": {
                    "x": 5.810835838317871,
                    "y": -0.08939250558614731,
                    "z": 0.2118789106607437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.556944370269775,
                "transform": {
                    "location": {
                        "x": -1135.379638671875,
                        "y": 3104.844970703125,
                        "z": 353.84588623046875
                    },
                    "rotation": {
                        "roll": 0.01843574084341526,
                        "pitch": 2.0833852291107178,
                        "yaw": -0.7535094618797302
                    }
                },
                "velocity": {
                    "x": 7.551206111907959,
                    "y": -0.10438501834869385,
                    "z": 0.2753192186355591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5409,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.061840057373047,
                "transform": {
                    "location": {
                        "x": -1066.6282958984375,
                        "y": 3078.635009765625,
                        "z": 356.0284729003906
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -1.1731258630752563,
                        "yaw": 178.74497985839844
                    }
                },
                "velocity": {
                    "x": -8.058246612548828,
                    "y": 0.17827759683132172,
                    "z": -0.1616699993610382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5408,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.034412384033203,
                "transform": {
                    "location": {
                        "x": -1066.07861328125,
                        "y": 3082.12451171875,
                        "z": 356.0283508300781
                    },
                    "rotation": {
                        "roll": 6.738144406881474e-07,
                        "pitch": -1.1414748430252075,
                        "yaw": 178.718994140625
                    }
                },
                "velocity": {
                    "x": -8.030694007873535,
                    "y": 0.17960016429424286,
                    "z": -0.16577884554862976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873373031616211,
                "transform": {
                    "location": {
                        "x": -1133.8333740234375,
                        "y": 3076.73583984375,
                        "z": 353.91937255859375
                    },
                    "rotation": {
                        "roll": 0.0001433695142623037,
                        "pitch": -2.092803955078125,
                        "yaw": 178.71917724609375
                    }
                },
                "velocity": {
                    "x": -15.858837127685547,
                    "y": 0.3547678291797638,
                    "z": -0.5791209936141968
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1296.918212890625,
                        "y": 3080.435791015625,
                        "z": 346.5726013183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1255.5853271484375,
                        "y": 3079.455810546875,
                        "z": 348.2599182128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1231.6041259765625,
                        "y": 3078.919921875,
                        "z": 349.4471435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.450973510742188,
                "transform": {
                    "location": {
                        "x": -1159.6170654296875,
                        "y": 3077.311767578125,
                        "z": 352.98468017578125
                    },
                    "rotation": {
                        "roll": 0.0012576873414218426,
                        "pitch": -2.1747729778289795,
                        "yaw": 178.71409606933594
                    }
                },
                "velocity": {
                    "x": -16.435489654541016,
                    "y": 0.368392676115036,
                    "z": -0.6111728549003601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.063904762268066,
                "transform": {
                    "location": {
                        "x": -1034.60693359375,
                        "y": 3053.34814453125,
                        "z": 357.9500427246094
                    },
                    "rotation": {
                        "roll": 0.05252069979906082,
                        "pitch": -3.314267158508301,
                        "yaw": 166.25192260742188
                    }
                },
                "velocity": {
                    "x": -7.816742420196533,
                    "y": 1.9276612997055054,
                    "z": -0.45740851759910583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.061347007751465,
                "transform": {
                    "location": {
                        "x": -1053.92578125,
                        "y": 3058.498046875,
                        "z": 356.9124450683594
                    },
                    "rotation": {
                        "roll": 0.026445185765624046,
                        "pitch": -2.734978437423706,
                        "yaw": 163.98670959472656
                    }
                },
                "velocity": {
                    "x": -7.73647928237915,
                    "y": 2.233349084854126,
                    "z": -0.3799457550048828
                },
                "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": 0.22252589464187622,
        "expert_target_speed": 14.962670117106692,
        "target_point": [
            20.611667526300668,
            1.463157184389362
        ],
        "target_point_next": [
            33.37023252805873,
            2.9483391485629835
        ]
    },
    "300": {
        "acceleration": [
            -0.5355453491210938,
            -1.5260910987854004,
            -0.12073636054992676
        ],
        "angular_velocity": [
            -0.3268750309944153,
            -0.33056458830833435,
            6.106204032897949
        ],
        "forward_vector": [
            -0.9921475052833557,
            0.12076085060834885,
            -0.03255828469991684
        ],
        "right_vector": [
            -0.12103864550590515,
            -0.9926252365112305,
            0.0066931843757629395
        ],
        "location": [
            -1102.073974609375,
            3071.654541015625,
            355.07666015625
        ],
        "rotation": [
            -0.383697509765625,
            -1.8657821416854858,
            173.06028747558594
        ],
        "velocity": [
            -14.34430980682373,
            1.7278075218200684,
            -0.4767268896102905
        ],
        "speed": 14.447994416755478,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.629966735839844,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1134.418701171875,
                3097.836181640625,
                353.89581298828125
            ],
            "velocity": [
                6.921601295471191,
                -0.10991516709327698,
                0.25183913111686707
            ],
            "speed_kmh": 24.937392234526442,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.4630126953125,
                        "y": 3077.83837890625,
                        "z": 356.5768737792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.596107006072998,
                "transform": {
                    "location": {
                        "x": -1165.5631103515625,
                        "y": 3094.95263671875,
                        "z": 352.7538146972656
                    },
                    "rotation": {
                        "roll": -0.050231922417879105,
                        "pitch": 2.208049774169922,
                        "yaw": -1.1176754236221313
                    }
                },
                "velocity": {
                    "x": 6.592403411865234,
                    "y": -0.08335685729980469,
                    "z": 0.2046927958726883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.9130859375,
                        "y": 3098.45751953125,
                        "z": 352.7283935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.1796875,
                        "y": 3101.94140625,
                        "z": 352.7605895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.975830078125,
                        "y": 3105.460205078125,
                        "z": 352.73065185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.638343334197998,
                "transform": {
                    "location": {
                        "x": -1150.1845703125,
                        "y": 3094.65576171875,
                        "z": 353.3186950683594
                    },
                    "rotation": {
                        "roll": 0.018647942692041397,
                        "pitch": 2.064349412918091,
                        "yaw": -0.762939453125
                    }
                },
                "velocity": {
                    "x": 6.633296489715576,
                    "y": -0.08906566351652145,
                    "z": 0.2430010735988617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.956892013549805,
                "transform": {
                    "location": {
                        "x": -1150.98828125,
                        "y": 3098.158935546875,
                        "z": 353.2770690917969
                    },
                    "rotation": {
                        "roll": 0.01941481977701187,
                        "pitch": 2.046679735183716,
                        "yaw": -0.74761962890625
                    }
                },
                "velocity": {
                    "x": 4.953219890594482,
                    "y": -0.06161637604236603,
                    "z": 0.180536687374115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.411995887756348,
                "transform": {
                    "location": {
                        "x": -1149.65234375,
                        "y": 3101.63671875,
                        "z": 353.3675231933594
                    },
                    "rotation": {
                        "roll": 0.01969991996884346,
                        "pitch": 2.031625986099243,
                        "yaw": -0.681732177734375
                    }
                },
                "velocity": {
                    "x": 6.407129287719727,
                    "y": -0.07404979318380356,
                    "z": 0.2385568767786026
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.944580554962158,
                "transform": {
                    "location": {
                        "x": -1150.117919921875,
                        "y": 3105.130859375,
                        "z": 353.318115234375
                    },
                    "rotation": {
                        "roll": 0.011598844081163406,
                        "pitch": 2.1188883781433105,
                        "yaw": -0.713348388671875
                    }
                },
                "velocity": {
                    "x": 5.940380096435547,
                    "y": -0.061944060027599335,
                    "z": 0.21467655897140503
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.615288257598877,
                "transform": {
                    "location": {
                        "x": -1035.953369140625,
                        "y": 3081.47314453125,
                        "z": 356.4884948730469
                    },
                    "rotation": {
                        "roll": -0.002899169223383069,
                        "pitch": -0.5514216423034668,
                        "yaw": 179.00820922851562
                    }
                },
                "velocity": {
                    "x": -7.613778114318848,
                    "y": 0.13511508703231812,
                    "z": -0.06888994574546814
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019434928894043,
                "transform": {
                    "location": {
                        "x": -1042.4635009765625,
                        "y": 3078.10205078125,
                        "z": 356.42864990234375
                    },
                    "rotation": {
                        "roll": 0.002315493766218424,
                        "pitch": -0.6933324933052063,
                        "yaw": 178.8346405029297
                    }
                },
                "velocity": {
                    "x": -8.017156600952148,
                    "y": 0.16756421327590942,
                    "z": -0.09194998443126678
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.47651481628418,
                "transform": {
                    "location": {
                        "x": -1067.8883056640625,
                        "y": 3075.262451171875,
                        "z": 356.0051574707031
                    },
                    "rotation": {
                        "roll": 7.000884943408892e-05,
                        "pitch": -1.0572518110275269,
                        "yaw": 178.71641540527344
                    }
                },
                "velocity": {
                    "x": -15.469440460205078,
                    "y": 0.3467387557029724,
                    "z": -0.31418576836586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.57771635055542,
                "transform": {
                    "location": {
                        "x": -1134.644775390625,
                        "y": 3094.343017578125,
                        "z": 353.8856201171875
                    },
                    "rotation": {
                        "roll": 0.014841226860880852,
                        "pitch": 2.2590370178222656,
                        "yaw": -0.9628906846046448
                    }
                },
                "velocity": {
                    "x": 7.571557998657227,
                    "y": -0.12957490980625153,
                    "z": 0.2765999734401703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.927053451538086,
                "transform": {
                    "location": {
                        "x": -1134.418701171875,
                        "y": 3097.836181640625,
                        "z": 353.89581298828125
                    },
                    "rotation": {
                        "roll": 0.012629606761038303,
                        "pitch": 2.037458896636963,
                        "yaw": -0.9049376845359802
                    }
                },
                "velocity": {
                    "x": 6.921601295471191,
                    "y": -0.10991516709327698,
                    "z": 0.25183913111686707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.742153167724609,
                "transform": {
                    "location": {
                        "x": -1134.356689453125,
                        "y": 3101.333740234375,
                        "z": 353.8875427246094
                    },
                    "rotation": {
                        "roll": 0.021215807646512985,
                        "pitch": 1.8996257781982422,
                        "yaw": -0.8537293076515198
                    }
                },
                "velocity": {
                    "x": 5.737674236297607,
                    "y": -0.08884978294372559,
                    "z": 0.20862065255641937
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.285627365112305,
                "transform": {
                    "location": {
                        "x": -1133.4010009765625,
                        "y": 3104.816162109375,
                        "z": 353.9178161621094
                    },
                    "rotation": {
                        "roll": 0.018400009721517563,
                        "pitch": 2.1040122509002686,
                        "yaw": -0.863067626953125
                    }
                },
                "velocity": {
                    "x": 8.278900146484375,
                    "y": -0.14115864038467407,
                    "z": 0.30249595642089844
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.874650955200195,
                "transform": {
                    "location": {
                        "x": -1137.7982177734375,
                        "y": 3076.82421875,
                        "z": 353.7748107910156
                    },
                    "rotation": {
                        "roll": -0.00012206760584376752,
                        "pitch": -2.0920662879943848,
                        "yaw": 178.72120666503906
                    }
                },
                "velocity": {
                    "x": -15.860114097595215,
                    "y": 0.35393503308296204,
                    "z": -0.5797001719474792
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.16357421875,
                        "y": 3080.578369140625,
                        "z": 346.4312438964844
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.828857421875,
                        "y": 3079.550537109375,
                        "z": 348.0574951171875
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.84716796875,
                        "y": 3079.014892578125,
                        "z": 349.2310485839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.453454971313477,
                "transform": {
                    "location": {
                        "x": -1163.7254638671875,
                        "y": 3077.4033203125,
                        "z": 352.8292236328125
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -2.237269401550293,
                        "yaw": 178.72555541992188
                    }
                },
                "velocity": {
                    "x": -16.436948776245117,
                    "y": 0.36616167426109314,
                    "z": -0.6393999457359314
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04709529876709,
                "transform": {
                    "location": {
                        "x": -1036.559326171875,
                        "y": 3053.830322265625,
                        "z": 357.836669921875
                    },
                    "rotation": {
                        "roll": 0.02308637462556362,
                        "pitch": -3.265103340148926,
                        "yaw": 166.1038055419922
                    }
                },
                "velocity": {
                    "x": -7.798062801361084,
                    "y": 1.934836745262146,
                    "z": -0.4498451054096222
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06567668914795,
                "transform": {
                    "location": {
                        "x": -1055.8604736328125,
                        "y": 3059.058349609375,
                        "z": 356.8177185058594
                    },
                    "rotation": {
                        "roll": 0.009219834581017494,
                        "pitch": -2.6854798793792725,
                        "yaw": 163.8346710205078
                    }
                },
                "velocity": {
                    "x": -7.7369384765625,
                    "y": 2.24775767326355,
                    "z": -0.37750357389450073
                },
                "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": 0.19612300395965576,
        "expert_target_speed": 15.03193785107827,
        "target_point": [
            17.042846261026238,
            0.9464988961452871
        ],
        "target_point_next": [
            29.83727435372041,
            2.0819970915073878
        ]
    },
    "305": {
        "acceleration": [
            -0.4976654052734375,
            -1.5173029899597168,
            -0.13347983360290527
        ],
        "angular_velocity": [
            -0.20431385934352875,
            -0.1499018669128418,
            6.255067825317383
        ],
        "forward_vector": [
            -0.9949662089347839,
            0.09380759298801422,
            -0.035246457904577255
        ],
        "right_vector": [
            -0.09412886947393417,
            -0.9955312609672546,
            0.007565523963421583
        ],
        "location": [
            -1105.6749267578125,
            3072.04296875,
            354.95330810546875
        ],
        "rotation": [
            -0.43374624848365784,
            -2.0198917388916016,
            174.61395263671875
        ],
        "velocity": [
            -14.473359107971191,
            1.3500635623931885,
            -0.5109246969223022
        ],
        "speed": 14.536189166724352,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.28550338745117,
        "front_vehicle_info": {
            "id": 5412,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1132.61279296875,
                3097.802978515625,
                353.9623107910156
            ],
            "velocity": [
                8.140884399414062,
                -0.16591405868530273,
                0.2965196967124939
            ],
            "speed_kmh": 29.33269975167652,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9570611715316772,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.6015930175781
                    },
                    "rotation": {
                        "roll": -9.155237057711929e-05,
                        "pitch": -0.6080575585365295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": -0.00022436681319959462,
                    "y": 2.7809268431155942e-05,
                    "z": -0.9570611119270325
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.48876953125,
                        "y": 3077.88330078125,
                        "z": 356.5602722167969
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.2294921875,
                "transform": {
                    "location": {
                        "x": -1163.958740234375,
                        "y": 3094.934814453125,
                        "z": 352.80792236328125
                    },
                    "rotation": {
                        "roll": -0.012054443359375,
                        "pitch": 2.22397780418396,
                        "yaw": -0.681732177734375
                    }
                },
                "velocity": {
                    "x": 6.22519588470459,
                    "y": -0.07177602499723434,
                    "z": 0.21989873051643372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.35648512840271,
                "transform": {
                    "location": {
                        "x": -1164.958251953125,
                        "y": 3098.440673828125,
                        "z": 352.7651062011719
                    },
                    "rotation": {
                        "roll": 0.014906306751072407,
                        "pitch": 2.6362342834472656,
                        "yaw": -1.1116639375686646
                    }
                },
                "velocity": {
                    "x": 2.3543074131011963,
                    "y": -0.010573839768767357,
                    "z": 0.10073423385620117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.5222601890563965,
                "transform": {
                    "location": {
                        "x": -1163.572509765625,
                        "y": 3101.91455078125,
                        "z": 352.8180847167969
                    },
                    "rotation": {
                        "roll": -0.02432251162827015,
                        "pitch": 2.212052345275879,
                        "yaw": -0.9997864961624146
                    }
                },
                "velocity": {
                    "x": 6.516777992248535,
                    "y": -0.08760164678096771,
                    "z": 0.2525983452796936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.379857540130615,
                "transform": {
                    "location": {
                        "x": -1164.669921875,
                        "y": 3105.4345703125,
                        "z": 352.7751770019531
                    },
                    "rotation": {
                        "roll": -0.029052728787064552,
                        "pitch": 2.229100465774536,
                        "yaw": -1.1620787382125854
                    }
                },
                "velocity": {
                    "x": 6.37529182434082,
                    "y": -0.08100049942731857,
                    "z": 0.22732602059841156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.799400329589844,
                "transform": {
                    "location": {
                        "x": -1148.5963134765625,
                        "y": 3094.63330078125,
                        "z": 353.37652587890625
                    },
                    "rotation": {
                        "roll": 0.022991560399532318,
                        "pitch": 2.0007193088531494,
                        "yaw": -0.82635498046875
                    }
                },
                "velocity": {
                    "x": 5.794754505157471,
                    "y": -0.09290177375078201,
                    "z": 0.2126855105161667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.116798400878906,
                "transform": {
                    "location": {
                        "x": -1149.7674560546875,
                        "y": 3098.143310546875,
                        "z": 353.32122802734375
                    },
                    "rotation": {
                        "roll": 0.02049240656197071,
                        "pitch": 2.0834124088287354,
                        "yaw": -0.6868591904640198
                    }
                },
                "velocity": {
                    "x": 5.113004207611084,
                    "y": -0.06351295113563538,
                    "z": 0.18648675084114075
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.528285980224609,
                "transform": {
                    "location": {
                        "x": -1148.0352783203125,
                        "y": 3101.6142578125,
                        "z": 353.426513671875
                    },
                    "rotation": {
                        "roll": 0.024824433028697968,
                        "pitch": 2.076022148132324,
                        "yaw": -0.8024292588233948
                    }
                },
                "velocity": {
                    "x": 6.522977828979492,
                    "y": -0.10805164277553558,
                    "z": 0.24000771343708038
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.38082218170166,
                "transform": {
                    "location": {
                        "x": -1148.83837890625,
                        "y": 3105.1171875,
                        "z": 353.36669921875
                    },
                    "rotation": {
                        "roll": 0.03009609691798687,
                        "pitch": 1.7821396589279175,
                        "yaw": -0.6506346464157104
                    }
                },
                "velocity": {
                    "x": 4.377581596374512,
                    "y": -0.06084522232413292,
                    "z": 0.15710103511810303
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.62142276763916,
                "transform": {
                    "location": {
                        "x": -1038.086181640625,
                        "y": 3081.511474609375,
                        "z": 356.4674377441406
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.5442841053009033,
                        "yaw": 178.91497802734375
                    }
                },
                "velocity": {
                    "x": -8.619377136230469,
                    "y": 0.16646133363246918,
                    "z": -0.0869654044508934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07673454284668,
                "transform": {
                    "location": {
                        "x": -1044.474609375,
                        "y": 3078.14501953125,
                        "z": 356.4041748046875
                    },
                    "rotation": {
                        "roll": 0.0002795507898554206,
                        "pitch": -0.778498113155365,
                        "yaw": 178.76718139648438
                    }
                },
                "velocity": {
                    "x": -8.074132919311523,
                    "y": 0.17335036396980286,
                    "z": -0.10937841981649399
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.31925392150879,
                "transform": {
                    "location": {
                        "x": -1071.8702392578125,
                        "y": 3075.351806640625,
                        "z": 355.9197998046875
                    },
                    "rotation": {
                        "roll": 2.9401027859421447e-05,
                        "pitch": -1.1448352336883545,
                        "yaw": 178.72325134277344
                    }
                },
                "velocity": {
                    "x": -16.311159133911133,
                    "y": 0.3642611503601074,
                    "z": -0.3625088930130005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5413,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.361654281616211,
                "transform": {
                    "location": {
                        "x": -1132.575927734375,
                        "y": 3094.30419921875,
                        "z": 353.96099853515625
                    },
                    "rotation": {
                        "roll": 0.015641696751117706,
                        "pitch": 2.2376928329467773,
                        "yaw": -1.1168519258499146
                    }
                },
                "velocity": {
                    "x": 8.354458808898926,
                    "y": -0.16569487750530243,
                    "z": 0.3046809434890747
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.147972106933594,
                "transform": {
                    "location": {
                        "x": -1132.61279296875,
                        "y": 3097.802978515625,
                        "z": 353.9623107910156
                    },
                    "rotation": {
                        "roll": 0.002584216883406043,
                        "pitch": 1.962053656578064,
                        "yaw": -1.038238525390625
                    }
                },
                "velocity": {
                    "x": 8.140884399414062,
                    "y": -0.16591405868530273,
                    "z": 0.2965196967124939
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5411,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.749829292297363,
                "transform": {
                    "location": {
                        "x": -1132.6368408203125,
                        "y": 3101.302734375,
                        "z": 353.94775390625
                    },
                    "rotation": {
                        "roll": 0.03457612171769142,
                        "pitch": 2.5750153064727783,
                        "yaw": -1.0761107206344604
                    }
                },
                "velocity": {
                    "x": 7.743183612823486,
                    "y": -0.15239283442497253,
                    "z": 0.2823764979839325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5410,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052229881286621,
                "transform": {
                    "location": {
                        "x": -1131.343505859375,
                        "y": 3104.780029296875,
                        "z": 353.9930114746094
                    },
                    "rotation": {
                        "roll": 0.008684847503900528,
                        "pitch": 2.088787794113159,
                        "yaw": -1.0658873319625854
                    }
                },
                "velocity": {
                    "x": 8.045330047607422,
                    "y": -0.15783244371414185,
                    "z": 0.2935241460800171
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.87736988067627,
                "transform": {
                    "location": {
                        "x": -1141.7635498046875,
                        "y": 3076.913330078125,
                        "z": 353.63018798828125
                    },
                    "rotation": {
                        "roll": 0.0012594342697411776,
                        "pitch": -2.093050003051758,
                        "yaw": 178.712158203125
                    }
                },
                "velocity": {
                    "x": -15.862781524658203,
                    "y": 0.3563132882118225,
                    "z": -0.5797234177589417
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1305.4083251953125,
                        "y": 3080.734619140625,
                        "z": 346.2914123535156
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1264.072509765625,
                        "y": 3079.6455078125,
                        "z": 347.862060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.0899658203125,
                        "y": 3079.109619140625,
                        "z": 349.01776123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.456283569335938,
                "transform": {
                    "location": {
                        "x": -1167.833984375,
                        "y": 3077.495361328125,
                        "z": 352.6665954589844
                    },
                    "rotation": {
                        "roll": 0.0012571064289659262,
                        "pitch": -2.3385541439056396,
                        "yaw": 178.7132110595703
                    }
                },
                "velocity": {
                    "x": -16.438703536987305,
                    "y": 0.36863014101982117,
                    "z": -0.6651208996772766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.061058044433594,
                "transform": {
                    "location": {
                        "x": -1038.5091552734375,
                        "y": 3054.32177734375,
                        "z": 357.725341796875
                    },
                    "rotation": {
                        "roll": 0.057149291038513184,
                        "pitch": -3.1995882987976074,
                        "yaw": 165.7987823486328
                    }
                },
                "velocity": {
                    "x": -7.79732608795166,
                    "y": 1.9964488744735718,
                    "z": -0.44334015250205994
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06299877166748,
                "transform": {
                    "location": {
                        "x": -1057.7923583984375,
                        "y": 3059.628173828125,
                        "z": 356.72509765625
                    },
                    "rotation": {
                        "roll": 0.02830602414906025,
                        "pitch": -2.6370198726654053,
                        "yaw": 163.53082275390625
                    }
                },
                "velocity": {
                    "x": -7.718801498413086,
                    "y": 2.3014745712280273,
                    "z": -0.36778998374938965
                },
                "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": 0.15288381278514862,
        "expert_target_speed": 15.108220406883131,
        "target_point": [
            13.440730037249635,
            0.5327689367895954
        ],
        "target_point_next": [
            26.261241698111096,
            1.3209485638465988
        ]
    },
    "310": {
        "acceleration": [
            -0.41660308837890625,
            -0.7128429412841797,
            -0.09511709213256836
        ],
        "angular_velocity": [
            0.5643734335899353,
            -0.3003081679344177,
            2.9404189586639404
        ],
        "forward_vector": [
            -0.9967284202575684,
            0.07260483503341675,
            -0.03550998494029045
        ],
        "right_vector": [
            -0.07288184762001038,
            -0.9973189830780029,
            0.006567956414073706
        ],
        "location": [
            -1109.307373046875,
            3072.346435546875,
            354.82373046875
        ],
        "rotation": [
            -0.376556396484375,
            -2.0350000858306885,
            175.83375549316406
        ],
        "velocity": [
            -14.58359432220459,
            1.0798423290252686,
            -0.5259385704994202
        ],
        "speed": 14.623518140659336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.850826263427734,
        "front_vehicle_info": {
            "id": 5419,
            "type": "vehicle.audi.tt",
            "location": [
                -1148.40234375,
                3098.123779296875,
                353.37060546875
            ],
            "velocity": [
                5.601437091827393,
                -0.09581800550222397,
                0.2044486403465271
            ],
            "speed_kmh": 20.18154921412658,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.29354673624038696,
                "transform": {
                    "location": {
                        "x": -1040.47119140625,
                        "y": 3074.650146484375,
                        "z": 356.43023681640625
                    },
                    "rotation": {
                        "roll": 0.00041953017353080213,
                        "pitch": -0.5370782613754272,
                        "yaw": 178.72019958496094
                    }
                },
                "velocity": {
                    "x": 0.0028077189344912767,
                    "y": -0.00010896204912569374,
                    "z": -0.2935332953929901
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.50634765625,
                        "y": 3077.927978515625,
                        "z": 356.5417785644531
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9812064170837402,
                "transform": {
                    "location": {
                        "x": -1162.604248046875,
                        "y": 3094.91796875,
                        "z": 352.8592834472656
                    },
                    "rotation": {
                        "roll": 0.020206620916724205,
                        "pitch": 1.5960444211959839,
                        "yaw": -0.9404296875
                    }
                },
                "velocity": {
                    "x": 3.97813081741333,
                    "y": -0.05804039165377617,
                    "z": 0.1452968418598175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2769997119903564,
                "transform": {
                    "location": {
                        "x": -1164.3817138671875,
                        "y": 3098.4365234375,
                        "z": 352.7912292480469
                    },
                    "rotation": {
                        "roll": 0.01573214866220951,
                        "pitch": 2.345616579055786,
                        "yaw": -0.902587890625
                    }
                },
                "velocity": {
                    "x": 2.2751448154449463,
                    "y": -0.00953124463558197,
                    "z": 0.09139135479927063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.146833896636963,
                "transform": {
                    "location": {
                        "x": -1161.98876953125,
                        "y": 3101.891845703125,
                        "z": 352.8814697265625
                    },
                    "rotation": {
                        "roll": 0.015286519192159176,
                        "pitch": 2.1733591556549072,
                        "yaw": -0.7990418672561646
                    }
                },
                "velocity": {
                    "x": 6.141469478607178,
                    "y": -0.07738975435495377,
                    "z": 0.24481232464313507
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5230753421783447,
                "transform": {
                    "location": {
                        "x": -1163.7628173828125,
                        "y": 3105.41845703125,
                        "z": 352.81671142578125
                    },
                    "rotation": {
                        "roll": 0.021012673154473305,
                        "pitch": 1.261242151260376,
                        "yaw": -0.636138916015625
                    }
                },
                "velocity": {
                    "x": 0.5224409103393555,
                    "y": -0.01298529002815485,
                    "z": 0.022240599617362022
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.373592853546143,
                "transform": {
                    "location": {
                        "x": -1147.2357177734375,
                        "y": 3094.6103515625,
                        "z": 353.42620849609375
                    },
                    "rotation": {
                        "roll": 0.01657525636255741,
                        "pitch": 2.019324779510498,
                        "yaw": -0.9528198838233948
                    }
                },
                "velocity": {
                    "x": 5.36920166015625,
                    "y": -0.09414158761501312,
                    "z": 0.1957281231880188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.60598611831665,
                "transform": {
                    "location": {
                        "x": -1148.40234375,
                        "y": 3098.123779296875,
                        "z": 353.37060546875
                    },
                    "rotation": {
                        "roll": 0.02429034188389778,
                        "pitch": 2.1259713172912598,
                        "yaw": -0.7348938584327698
                    }
                },
                "velocity": {
                    "x": 5.601437091827393,
                    "y": -0.09581800550222397,
                    "z": 0.2044486403465271
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.262205123901367,
                "transform": {
                    "location": {
                        "x": -1146.5145263671875,
                        "y": 3101.589599609375,
                        "z": 353.48284912109375
                    },
                    "rotation": {
                        "roll": 0.015471714548766613,
                        "pitch": 1.9944560527801514,
                        "yaw": -0.9013976454734802
                    }
                },
                "velocity": {
                    "x": 5.257948875427246,
                    "y": -0.08935049176216125,
                    "z": 0.19181117415428162
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1840643882751465,
                "transform": {
                    "location": {
                        "x": -1147.6390380859375,
                        "y": 3105.099609375,
                        "z": 353.40740966796875
                    },
                    "rotation": {
                        "roll": 0.03373715281486511,
                        "pitch": 2.161836624145508,
                        "yaw": -0.7554319500923157
                    }
                },
                "velocity": {
                    "x": 5.179896354675293,
                    "y": -0.08166752755641937,
                    "z": 0.1911221295595169
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.216416358947754,
                "transform": {
                    "location": {
                        "x": -1040.181396484375,
                        "y": 3081.552490234375,
                        "z": 356.4468994140625
                    },
                    "rotation": {
                        "roll": -0.0003356932138558477,
                        "pitch": -0.572909414768219,
                        "yaw": 178.82342529296875
                    }
                },
                "velocity": {
                    "x": -8.21430492401123,
                    "y": 0.1677945852279663,
                    "z": -0.08081784844398499
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054649353027344,
                "transform": {
                    "location": {
                        "x": -1046.49169921875,
                        "y": 3078.1884765625,
                        "z": 356.3767395019531
                    },
                    "rotation": {
                        "roll": 8.401765808230266e-05,
                        "pitch": -0.774345338344574,
                        "yaw": 178.77969360351562
                    }
                },
                "velocity": {
                    "x": -8.052006721496582,
                    "y": 0.17409825325012207,
                    "z": -0.11065284162759781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.485149383544922,
                "transform": {
                    "location": {
                        "x": -1075.983154296875,
                        "y": 3075.443603515625,
                        "z": 355.8251953125
                    },
                    "rotation": {
                        "roll": 0.00013449661491904408,
                        "pitch": -1.2873812913894653,
                        "yaw": 178.71624755859375
                    }
                },
                "velocity": {
                    "x": -16.476530075073242,
                    "y": 0.36886709928512573,
                    "z": -0.3847600519657135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.880537033081055,
                "transform": {
                    "location": {
                        "x": -1145.7296142578125,
                        "y": 3077.001708984375,
                        "z": 353.4855651855469
                    },
                    "rotation": {
                        "roll": 0.000160062569193542,
                        "pitch": -2.092653751373291,
                        "yaw": 178.72508239746094
                    }
                },
                "velocity": {
                    "x": -15.866028785705566,
                    "y": 0.35359373688697815,
                    "z": -0.5792871713638306
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1309.652587890625,
                        "y": 3080.90771484375,
                        "z": 346.16326904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.316162109375,
                        "y": 3079.740234375,
                        "z": 347.6734313964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.3326416015625,
                        "y": 3079.204345703125,
                        "z": 348.80780029296875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.460205078125,
                "transform": {
                    "location": {
                        "x": -1171.9427490234375,
                        "y": 3077.587158203125,
                        "z": 352.49615478515625
                    },
                    "rotation": {
                        "roll": -0.002838134067133069,
                        "pitch": -2.4722824096679688,
                        "yaw": 178.72543334960938
                    }
                },
                "velocity": {
                    "x": -16.441320419311523,
                    "y": 0.3664981424808502,
                    "z": -0.6978583335876465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.4884033203125,
                        "y": 3054.864013671875,
                        "z": 357.6158447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.070709466934204,
                        "yaw": 165.37890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.063332557678223,
                "transform": {
                    "location": {
                        "x": -1059.7218017578125,
                        "y": 3060.205810546875,
                        "z": 356.63433837890625
                    },
                    "rotation": {
                        "roll": 0.015490928664803505,
                        "pitch": -2.5728092193603516,
                        "yaw": 163.30987548828125
                    }
                },
                "velocity": {
                    "x": -7.713845729827881,
                    "y": 2.3202741146087646,
                    "z": -0.3608986437320709
                },
                "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": 0.10496873408555984,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            9.804131272516177,
            0.285292160848958
        ],
        "target_point_next": [
            22.638516245398385,
            0.8003734540909196
        ]
    },
    "315": {
        "acceleration": [
            -0.19657135009765625,
            -0.2960503101348877,
            -0.025004148483276367
        ],
        "angular_velocity": [
            0.6341851353645325,
            -0.08279832452535629,
            0.8700037002563477
        ],
        "forward_vector": [
            -0.997123122215271,
            0.06642007827758789,
            -0.03652248904109001
        ],
        "right_vector": [
            -0.0665888711810112,
            -0.997774600982666,
            0.0034235974308103323
        ],
        "location": [
            -1112.9644775390625,
            3072.60498046875,
            354.6908874511719
        ],
        "rotation": [
            -0.1962890326976776,
            -2.093050003051758,
            176.18905639648438
        ],
        "velocity": [
            -14.665912628173828,
            0.9785482287406921,
            -0.5375470519065857
        ],
        "speed": 14.698522029551137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.303375244140625,
        "front_vehicle_info": {
            "id": 5419,
            "type": "vehicle.audi.tt",
            "location": [
                -1146.7022705078125,
                3098.09521484375,
                353.4320373535156
            ],
            "velocity": [
                7.825539588928223,
                -0.13692477345466614,
                0.28425970673561096
            ],
            "speed_kmh": 28.19483177724512,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 5427,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.3848876953125,
                        "y": 3081.33740234375,
                        "z": 356.5768737792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.9588623046875,
                        "y": 3074.705322265625,
                        "z": 356.41986083984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.51806640625,
                        "y": 3077.9736328125,
                        "z": 356.5252990722656
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.878049850463867,
                "transform": {
                    "location": {
                        "x": -1161.621826171875,
                        "y": 3094.9033203125,
                        "z": 352.89544677734375
                    },
                    "rotation": {
                        "roll": 0.018073445186018944,
                        "pitch": 1.7764501571655273,
                        "yaw": -0.8981934189796448
                    }
                },
                "velocity": {
                    "x": 3.8748931884765625,
                    "y": -0.05646489933133125,
                    "z": 0.1458972841501236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1627869606018066,
                "transform": {
                    "location": {
                        "x": -1163.828369140625,
                        "y": 3098.4287109375,
                        "z": 352.8132019042969
                    },
                    "rotation": {
                        "roll": 0.014326420612633228,
                        "pitch": 2.2663590908050537,
                        "yaw": -0.87506103515625
                    }
                },
                "velocity": {
                    "x": 2.160997152328491,
                    "y": -0.02892671339213848,
                    "z": 0.08307943493127823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.256582736968994,
                "transform": {
                    "location": {
                        "x": -1160.443115234375,
                        "y": 3101.8720703125,
                        "z": 352.9418640136719
                    },
                    "rotation": {
                        "roll": 0.02010476216673851,
                        "pitch": 2.1287717819213867,
                        "yaw": -0.7200928330421448
                    }
                },
                "velocity": {
                    "x": 6.251713752746582,
                    "y": -0.07548415660858154,
                    "z": 0.23494915664196014
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3828064203262329,
                "transform": {
                    "location": {
                        "x": -1163.6419677734375,
                        "y": 3105.416748046875,
                        "z": 352.818359375
                    },
                    "rotation": {
                        "roll": 0.02569173276424408,
                        "pitch": 1.747408151626587,
                        "yaw": -0.6336974501609802
                    }
                },
                "velocity": {
                    "x": 0.38230690360069275,
                    "y": -0.004795228596776724,
                    "z": 0.018952589482069016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.016753196716309,
                "transform": {
                    "location": {
                        "x": -1145.85546875,
                        "y": 3094.58544921875,
                        "z": 353.47662353515625
                    },
                    "rotation": {
                        "roll": 0.012567579746246338,
                        "pitch": 2.13993239402771,
                        "yaw": -1.0146483182907104
                    }
                },
                "velocity": {
                    "x": 6.0117387771606445,
                    "y": -0.10925906896591187,
                    "z": 0.21996153891086578
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.831897735595703,
                "transform": {
                    "location": {
                        "x": -1146.7022705078125,
                        "y": 3098.09521484375,
                        "z": 353.4320373535156
                    },
                    "rotation": {
                        "roll": 0.01702779345214367,
                        "pitch": 2.213609457015991,
                        "yaw": -0.9102784991264343
                    }
                },
                "velocity": {
                    "x": 7.825539588928223,
                    "y": -0.13692477345466614,
                    "z": 0.28425970673561096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.24041748046875,
                "transform": {
                    "location": {
                        "x": -1145.240234375,
                        "y": 3101.5673828125,
                        "z": 353.5286560058594
                    },
                    "rotation": {
                        "roll": 0.016049763187766075,
                        "pitch": 2.0634546279907227,
                        "yaw": -0.888092041015625
                    }
                },
                "velocity": {
                    "x": 5.236121654510498,
                    "y": -0.0901254415512085,
                    "z": 0.1920451521873474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.227288246154785,
                "transform": {
                    "location": {
                        "x": -1146.279296875,
                        "y": 3105.07861328125,
                        "z": 353.4556884765625
                    },
                    "rotation": {
                        "roll": 0.020016441121697426,
                        "pitch": 2.3547418117523193,
                        "yaw": -0.9025880098342896
                    }
                },
                "velocity": {
                    "x": 6.222259521484375,
                    "y": -0.10376757383346558,
                    "z": 0.2276807576417923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.251220703125,
                        "y": 3081.654052734375,
                        "z": 356.4289855957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05125617980957,
                "transform": {
                    "location": {
                        "x": -1048.503173828125,
                        "y": 3078.232421875,
                        "z": 356.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0003266263520345092,
                        "pitch": -0.7712717652320862,
                        "yaw": 178.73190307617188
                    }
                },
                "velocity": {
                    "x": -8.048599243164062,
                    "y": 0.17664800584316254,
                    "z": -0.10758116841316223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.35979652404785,
                "transform": {
                    "location": {
                        "x": -1080.0833740234375,
                        "y": 3075.53564453125,
                        "z": 355.7248840332031
                    },
                    "rotation": {
                        "roll": -0.00021362003462854773,
                        "pitch": -1.483148217201233,
                        "yaw": 178.7174072265625
                    }
                },
                "velocity": {
                    "x": -16.350414276123047,
                    "y": 0.36508333683013916,
                    "z": -0.4165887236595154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.883666038513184,
                "transform": {
                    "location": {
                        "x": -1149.696533203125,
                        "y": 3077.09033203125,
                        "z": 353.34088134765625
                    },
                    "rotation": {
                        "roll": 0.00025894955615513027,
                        "pitch": -2.0931317806243896,
                        "yaw": 178.72348022460938
                    }
                },
                "velocity": {
                    "x": -15.86907958984375,
                    "y": 0.3555850088596344,
                    "z": -0.5802847146987915
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.89697265625,
                        "y": 3081.096435546875,
                        "z": 346.0489501953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.5599365234375,
                        "y": 3079.8349609375,
                        "z": 347.4909973144531
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1248.5750732421875,
                        "y": 3079.299072265625,
                        "z": 348.6007080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.463741302490234,
                "transform": {
                    "location": {
                        "x": -1176.0523681640625,
                        "y": 3077.678955078125,
                        "z": 352.31854248046875
                    },
                    "rotation": {
                        "roll": -0.000946043583098799,
                        "pitch": -2.580718517303467,
                        "yaw": 178.7149200439453
                    }
                },
                "velocity": {
                    "x": -16.443771362304688,
                    "y": 0.36629003286361694,
                    "z": -0.7231756448745728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.492919921875,
                        "y": 3055.4189453125,
                        "z": 357.5067138671875
                    },
                    "rotation": {
                        "roll": -2.671548138266644e-08,
                        "pitch": -2.9355127811431885,
                        "yaw": 164.8059844970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060423851013184,
                "transform": {
                    "location": {
                        "x": -1061.6497802734375,
                        "y": 3060.788330078125,
                        "z": 356.54541015625
                    },
                    "rotation": {
                        "roll": 0.024546369910240173,
                        "pitch": -2.520599126815796,
                        "yaw": 163.1698760986328
                    }
                },
                "velocity": {
                    "x": -7.698906898498535,
                    "y": 2.3611412048339844,
                    "z": -0.3496818542480469
                },
                "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": 0.11486499011516571,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            18.97684233512046,
            0.6748788484540595
        ],
        "target_point_next": [
            25.12562895663485,
            -2.55665020994897
        ]
    },
    "320": {
        "acceleration": [
            -0.34423828125,
            -0.16293883323669434,
            -0.0068128108978271484
        ],
        "angular_velocity": [
            0.2865414321422577,
            0.03715972229838371,
            0.6900486350059509
        ],
        "forward_vector": [
            -0.997328519821167,
            0.06324212998151779,
            -0.03655536472797394
        ],
        "right_vector": [
            -0.0633326917886734,
            -0.9979916214942932,
            0.0013237701496109366
        ],
        "location": [
            -1116.637451171875,
            3072.84423828125,
            354.55621337890625
        ],
        "rotation": [
            -0.07589718699455261,
            -2.0949349403381348,
            176.37164306640625
        ],
        "velocity": [
            -14.727062225341797,
            0.9278671145439148,
            -0.5384134650230408
        ],
        "speed": 14.756263049001983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.69337463378906,
        "front_vehicle_info": {
            "id": 5419,
            "type": "vehicle.audi.tt",
            "location": [
                -1144.635498046875,
                3098.059326171875,
                353.5078125
            ],
            "velocity": [
                8.311846733093262,
                -0.14830750226974487,
                0.3023315668106079
            ],
            "speed_kmh": 29.94719577945735,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 5427,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.4674072265625,
                        "y": 3081.38330078125,
                        "z": 356.5596923828125
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.989425659179688,
                "transform": {
                    "location": {
                        "x": -1046.65966796875,
                        "y": 3074.788330078125,
                        "z": 356.3849182128906
                    },
                    "rotation": {
                        "roll": 0.0028241972904652357,
                        "pitch": -1.3009051084518433,
                        "yaw": 178.71826171875
                    }
                },
                "velocity": {
                    "x": -13.984990119934082,
                    "y": 0.313190758228302,
                    "z": -0.16119004786014557
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.5325927734375,
                        "y": 3078.018310546875,
                        "z": 356.50927734375
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5170538425445557,
                "transform": {
                    "location": {
                        "x": -1160.6717529296875,
                        "y": 3094.8896484375,
                        "z": 352.9302673339844
                    },
                    "rotation": {
                        "roll": 0.01836736872792244,
                        "pitch": 1.9800443649291992,
                        "yaw": -0.8644102811813354
                    }
                },
                "velocity": {
                    "x": 3.514237642288208,
                    "y": -0.05038631334900856,
                    "z": 0.13138817250728607
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.337815761566162,
                "transform": {
                    "location": {
                        "x": -1163.1668701171875,
                        "y": 3098.419677734375,
                        "z": 352.8396301269531
                    },
                    "rotation": {
                        "roll": 0.017314516007900238,
                        "pitch": 2.1265382766723633,
                        "yaw": -0.8468932509422302
                    }
                },
                "velocity": {
                    "x": 3.335095167160034,
                    "y": -0.044960927218198776,
                    "z": 0.12701398134231567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.915952205657959,
                "transform": {
                    "location": {
                        "x": -1158.92431640625,
                        "y": 3101.853271484375,
                        "z": 352.9981689453125
                    },
                    "rotation": {
                        "roll": 0.026059003546833992,
                        "pitch": 2.146106719970703,
                        "yaw": -0.7034912705421448
                    }
                },
                "velocity": {
                    "x": 5.911350727081299,
                    "y": -0.0826968401670456,
                    "z": 0.218130424618721
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40839701890945435,
                "transform": {
                    "location": {
                        "x": -1163.5418701171875,
                        "y": 3105.41552734375,
                        "z": 352.81768798828125
                    },
                    "rotation": {
                        "roll": 0.02570054493844509,
                        "pitch": 2.3634161949157715,
                        "yaw": -0.6375732421875
                    }
                },
                "velocity": {
                    "x": 0.4080815315246582,
                    "y": -0.005083431024104357,
                    "z": 0.015223503112792969
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.910364151000977,
                "transform": {
                    "location": {
                        "x": -1144.0462646484375,
                        "y": 3094.5517578125,
                        "z": 353.5428771972656
                    },
                    "rotation": {
                        "roll": 0.012582099996507168,
                        "pitch": 2.335344076156616,
                        "yaw": -1.0732725858688354
                    }
                },
                "velocity": {
                    "x": 7.903624534606934,
                    "y": -0.15235278010368347,
                    "z": 0.28874078392982483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.318665504455566,
                "transform": {
                    "location": {
                        "x": -1144.635498046875,
                        "y": 3098.059326171875,
                        "z": 353.5078125
                    },
                    "rotation": {
                        "roll": 0.01102845836430788,
                        "pitch": 2.14816951751709,
                        "yaw": -1.0042418241500854
                    }
                },
                "velocity": {
                    "x": 8.311846733093262,
                    "y": -0.14830750226974487,
                    "z": 0.3023315668106079
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.538511276245117,
                "transform": {
                    "location": {
                        "x": -1143.90283203125,
                        "y": 3101.544677734375,
                        "z": 353.5769958496094
                    },
                    "rotation": {
                        "roll": 0.01490570604801178,
                        "pitch": 2.122849941253662,
                        "yaw": -0.9557493925094604
                    }
                },
                "velocity": {
                    "x": 5.533829212188721,
                    "y": -0.10606275498867035,
                    "z": 0.20147262513637543
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.9191670417785645,
                "transform": {
                    "location": {
                        "x": -1144.572265625,
                        "y": 3105.05029296875,
                        "z": 353.5174560546875
                    },
                    "rotation": {
                        "roll": 0.01467804703861475,
                        "pitch": 2.4061388969421387,
                        "yaw": -0.8480530381202698
                    }
                },
                "velocity": {
                    "x": 6.913657188415527,
                    "y": -0.11360316723585129,
                    "z": 0.2516235411167145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.3331298828125,
                        "y": 3081.7197265625,
                        "z": 356.4050598144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064830780029297,
                "transform": {
                    "location": {
                        "x": -1050.5167236328125,
                        "y": 3078.27685546875,
                        "z": 356.3196716308594
                    },
                    "rotation": {
                        "roll": 0.0007614787900820374,
                        "pitch": -0.9107305407524109,
                        "yaw": 178.7574462890625
                    }
                },
                "velocity": {
                    "x": -8.061941146850586,
                    "y": 0.17712710797786713,
                    "z": -0.12341504544019699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.34032440185547,
                "transform": {
                    "location": {
                        "x": -1084.1656494140625,
                        "y": 3075.62646484375,
                        "z": 355.6183776855469
                    },
                    "rotation": {
                        "roll": -0.00042724443483166397,
                        "pitch": -1.5476661920547485,
                        "yaw": 178.72715759277344
                    }
                },
                "velocity": {
                    "x": -16.330413818359375,
                    "y": 0.3633761405944824,
                    "z": -0.43793562054634094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.886714935302734,
                "transform": {
                    "location": {
                        "x": -1153.664306640625,
                        "y": 3077.1787109375,
                        "z": 353.19622802734375
                    },
                    "rotation": {
                        "roll": 0.00010232767090201378,
                        "pitch": -2.093015670776367,
                        "yaw": 178.72427368164062
                    }
                },
                "velocity": {
                    "x": -15.872200965881348,
                    "y": 0.35334959626197815,
                    "z": -0.5797380208969116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.1407470703125,
                        "y": 3081.300048828125,
                        "z": 345.94757080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.8033447265625,
                        "y": 3079.929931640625,
                        "z": 347.3147888183594
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1252.8172607421875,
                        "y": 3079.393310546875,
                        "z": 348.3944091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.467079162597656,
                "transform": {
                    "location": {
                        "x": -1180.162841796875,
                        "y": 3077.7705078125,
                        "z": 352.13348388671875
                    },
                    "rotation": {
                        "roll": -0.0012817357201129198,
                        "pitch": -2.654628038406372,
                        "yaw": 178.7254638671875
                    }
                },
                "velocity": {
                    "x": -16.4455509185791,
                    "y": 0.3662595748901367,
                    "z": -0.7578855752944946
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.5028076171875,
                        "y": 3055.954833984375,
                        "z": 357.3983154296875
                    },
                    "rotation": {
                        "roll": -2.671548138266644e-08,
                        "pitch": -2.9355127811431885,
                        "yaw": 164.8059844970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.062865257263184,
                "transform": {
                    "location": {
                        "x": -1063.5738525390625,
                        "y": 3061.384521484375,
                        "z": 356.45831298828125
                    },
                    "rotation": {
                        "roll": 0.03262169286608696,
                        "pitch": -2.4630069732666016,
                        "yaw": 162.76817321777344
                    }
                },
                "velocity": {
                    "x": -7.6899895668029785,
                    "y": 2.399404287338257,
                    "z": -0.3416186571121216
                },
                "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": 0.12976856529712677,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            15.29814375355676,
            0.6207469243374364
        ],
        "target_point_next": [
            21.436602799615503,
            -2.630357120764338
        ]
    },
    "325": {
        "acceleration": [
            -0.6286811828613281,
            -0.13741731643676758,
            -0.007597208023071289
        ],
        "angular_velocity": [
            0.09783263504505157,
            0.09364552050828934,
            0.7125804424285889
        ],
        "forward_vector": [
            -0.9975277185440063,
            0.06019650772213936,
            -0.036259446293115616
        ],
        "right_vector": [
            -0.060249704867601395,
            -0.9981832504272461,
            0.0003752587072085589
        ],
        "location": [
            -1120.3338623046875,
            3073.072509765625,
            354.42095947265625
        ],
        "rotation": [
            -0.0215148888528347,
            -2.0779688358306885,
            176.546630859375
        ],
        "velocity": [
            -14.851785659790039,
            0.8917542695999146,
            -0.5415439605712891
        ],
        "speed": 14.87853362941707,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.475154876708984,
        "front_vehicle_info": {
            "id": 5419,
            "type": "vehicle.audi.tt",
            "location": [
                -1142.63671875,
                3098.021728515625,
                353.5811767578125
            ],
            "velocity": [
                7.778086185455322,
                -0.15610632300376892,
                0.2831501066684723
            ],
            "speed_kmh": 28.025293141458008,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 5427,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.5499267578125,
                        "y": 3081.43017578125,
                        "z": 356.5406799316406
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.4295654296875,
                        "y": 3074.872314453125,
                        "z": 356.3284606933594
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.54736328125,
                        "y": 3078.06298828125,
                        "z": 356.4928894042969
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9207260608673096,
                "transform": {
                    "location": {
                        "x": -1159.7823486328125,
                        "y": 3094.876708984375,
                        "z": 352.962890625
                    },
                    "rotation": {
                        "roll": 0.017106251791119576,
                        "pitch": 2.1690902709960938,
                        "yaw": -0.8442687392234802
                    }
                },
                "velocity": {
                    "x": 3.917581081390381,
                    "y": -0.05564447119832039,
                    "z": 0.14681687951087952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.457055568695068,
                "transform": {
                    "location": {
                        "x": -1162.1856689453125,
                        "y": 3098.40576171875,
                        "z": 352.8777160644531
                    },
                    "rotation": {
                        "roll": 0.017184937372803688,
                        "pitch": 2.0612759590148926,
                        "yaw": -0.8219909071922302
                    }
                },
                "velocity": {
                    "x": 4.453364372253418,
                    "y": -0.06100998818874359,
                    "z": 0.17077922821044922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.6018595695495605,
                "transform": {
                    "location": {
                        "x": -1157.5640869140625,
                        "y": 3101.833740234375,
                        "z": 353.0500183105469
                    },
                    "rotation": {
                        "roll": 0.027441484853625298,
                        "pitch": 1.8874270915985107,
                        "yaw": -0.875152587890625
                    }
                },
                "velocity": {
                    "x": 4.598198413848877,
                    "y": -0.0772557482123375,
                    "z": 0.16647373139858246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.736311137676239,
                "transform": {
                    "location": {
                        "x": -1163.410888671875,
                        "y": 3105.41357421875,
                        "z": 352.8222961425781
                    },
                    "rotation": {
                        "roll": 0.02650628425180912,
                        "pitch": 2.3893094062805176,
                        "yaw": -0.623260498046875
                    }
                },
                "velocity": {
                    "x": 0.7357390522956848,
                    "y": -0.008772743865847588,
                    "z": 0.02766154147684574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.21026611328125,
                "transform": {
                    "location": {
                        "x": -1142.005859375,
                        "y": 3094.511474609375,
                        "z": 353.6170959472656
                    },
                    "rotation": {
                        "roll": 0.009380718693137169,
                        "pitch": 2.1956324577331543,
                        "yaw": -1.12957763671875
                    }
                },
                "velocity": {
                    "x": 8.203181266784668,
                    "y": -0.16567935049533844,
                    "z": 0.29805147647857666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.78480339050293,
                "transform": {
                    "location": {
                        "x": -1142.63671875,
                        "y": 3098.021728515625,
                        "z": 353.5811767578125
                    },
                    "rotation": {
                        "roll": 0.010019570589065552,
                        "pitch": 2.080577850341797,
                        "yaw": -1.101226806640625
                    }
                },
                "velocity": {
                    "x": 7.778086185455322,
                    "y": -0.15610632300376892,
                    "z": 0.2831501066684723
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.452034950256348,
                "transform": {
                    "location": {
                        "x": -1142.3319091796875,
                        "y": 3101.514404296875,
                        "z": 353.63287353515625
                    },
                    "rotation": {
                        "roll": 0.010815180838108063,
                        "pitch": 2.2740225791931152,
                        "yaw": -1.0373841524124146
                    }
                },
                "velocity": {
                    "x": 7.445614337921143,
                    "y": -0.14859840273857117,
                    "z": 0.27123135328292847
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.53148365020752,
                "transform": {
                    "location": {
                        "x": -1142.5736083984375,
                        "y": 3105.015625,
                        "z": 353.5902404785156
                    },
                    "rotation": {
                        "roll": 0.023549936711788177,
                        "pitch": 2.4136316776275635,
                        "yaw": -0.9475097060203552
                    }
                },
                "velocity": {
                    "x": 8.524383544921875,
                    "y": -0.15707767009735107,
                    "z": 0.3105164170265198
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.4151611328125,
                        "y": 3081.78076171875,
                        "z": 356.38031005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058088302612305,
                "transform": {
                    "location": {
                        "x": -1052.530517578125,
                        "y": 3078.3212890625,
                        "z": 356.28741455078125
                    },
                    "rotation": {
                        "roll": 0.0014831083826720715,
                        "pitch": -0.9874882102012634,
                        "yaw": 178.71762084960938
                    }
                },
                "velocity": {
                    "x": -8.054903030395508,
                    "y": 0.17934466898441315,
                    "z": -0.13841748237609863
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.360919952392578,
                "transform": {
                    "location": {
                        "x": -1088.25048828125,
                        "y": 3075.717529296875,
                        "z": 355.5053405761719
                    },
                    "rotation": {
                        "roll": 0.0008904297719709575,
                        "pitch": -1.615933895111084,
                        "yaw": 178.7189178466797
                    }
                },
                "velocity": {
                    "x": -16.35030746459961,
                    "y": 0.3650161027908325,
                    "z": -0.4625265300273895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.89015007019043,
                "transform": {
                    "location": {
                        "x": -1157.6326904296875,
                        "y": 3077.26708984375,
                        "z": 353.0513610839844
                    },
                    "rotation": {
                        "roll": 8.136328688124195e-05,
                        "pitch": -2.100890874862671,
                        "yaw": 178.72348022460938
                    }
                },
                "velocity": {
                    "x": -15.87531566619873,
                    "y": 0.3557371497154236,
                    "z": -0.5870885252952576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.3841552734375,
                        "y": 3081.517822265625,
                        "z": 345.85906982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1281.04638671875,
                        "y": 3080.024658203125,
                        "z": 347.1449890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1257.0587158203125,
                        "y": 3079.488037109375,
                        "z": 348.1896667480469
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.470050811767578,
                "transform": {
                    "location": {
                        "x": -1184.2735595703125,
                        "y": 3077.862548828125,
                        "z": 351.94140625
                    },
                    "rotation": {
                        "roll": 4.0343835280509666e-05,
                        "pitch": -2.747894287109375,
                        "yaw": 178.71646118164062
                    }
                },
                "velocity": {
                    "x": -16.447378158569336,
                    "y": 0.3666316568851471,
                    "z": -0.7822701334953308
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.5125732421875,
                        "y": 3056.491455078125,
                        "z": 357.2899169921875
                    },
                    "rotation": {
                        "roll": -2.671548138266644e-08,
                        "pitch": -2.9355127811431885,
                        "yaw": 164.8059844970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.059155464172363,
                "transform": {
                    "location": {
                        "x": -1065.495849609375,
                        "y": 3061.986572265625,
                        "z": 356.373046875
                    },
                    "rotation": {
                        "roll": 0.01553119532763958,
                        "pitch": -2.4114322662353516,
                        "yaw": 162.6009979248047
                    }
                },
                "velocity": {
                    "x": -7.682093143463135,
                    "y": 2.4128520488739014,
                    "z": -0.3370135426521301
                },
                "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": 0.16556985676288605,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            11.59651931043819,
            0.5792151040747979
        ],
        "target_point_next": [
            17.72501885026236,
            -2.69062439696994
        ]
    },
    "330": {
        "acceleration": [
            -0.8098983764648438,
            -0.26799440383911133,
            -0.04348039627075195
        ],
        "angular_velocity": [
            -0.13064996898174286,
            0.09229632467031479,
            1.168835997581482
        ],
        "forward_vector": [
            -0.9977514743804932,
            0.05664839223027229,
            -0.03581663593649864
        ],
        "right_vector": [
            -0.056694794446229935,
            -0.9983914494514465,
            0.000280517153441906
        ],
        "location": [
            -1124.0706787109375,
            3073.29150390625,
            354.2845153808594
        ],
        "rotation": [
            -0.0160827673971653,
            -2.0525810718536377,
            176.75045776367188
        ],
        "velocity": [
            -15.039843559265137,
            0.8453579545021057,
            -0.5487419962882996
        ],
        "speed": 15.063582719871425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.749011993408203,
        "front_vehicle_info": {
            "id": 5419,
            "type": "vehicle.audi.tt",
            "location": [
                -1140.653076171875,
                3097.982177734375,
                353.6533508300781
            ],
            "velocity": [
                8.134119033813477,
                -0.1638455092906952,
                0.29723355174064636
            ],
            "speed_kmh": 29.308308536404574,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 5427,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.6324462890625,
                        "y": 3081.47607421875,
                        "z": 356.5237121582031
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.385455131530762,
                "transform": {
                    "location": {
                        "x": -1054.3070068359375,
                        "y": 3074.959228515625,
                        "z": 356.2648010253906
                    },
                    "rotation": {
                        "roll": 9.035813855007291e-05,
                        "pitch": -1.2990950345993042,
                        "yaw": 178.71969604492188
                    }
                },
                "velocity": {
                    "x": -15.379439353942871,
                    "y": 0.3453395366668701,
                    "z": -0.2565078139305115
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.56103515625,
                        "y": 3078.107666015625,
                        "z": 356.47265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.127954006195068,
                "transform": {
                    "location": {
                        "x": -1158.644775390625,
                        "y": 3094.8583984375,
                        "z": 353.00421142578125
                    },
                    "rotation": {
                        "roll": 0.029746590182185173,
                        "pitch": 2.5271356105804443,
                        "yaw": -0.9046629071235657
                    }
                },
                "velocity": {
                    "x": 5.123471736907959,
                    "y": -0.09079684317111969,
                    "z": 0.1941753327846527
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.193451881408691,
                "transform": {
                    "location": {
                        "x": -1160.946044921875,
                        "y": 3098.388916015625,
                        "z": 352.9255065917969
                    },
                    "rotation": {
                        "roll": 0.01806592382490635,
                        "pitch": 2.0435378551483154,
                        "yaw": -0.8041076064109802
                    }
                },
                "velocity": {
                    "x": 5.189267635345459,
                    "y": -0.07014568895101547,
                    "z": 0.19626592099666595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.196815490722656,
                "transform": {
                    "location": {
                        "x": -1156.38623046875,
                        "y": 3101.813720703125,
                        "z": 353.091796875
                    },
                    "rotation": {
                        "roll": 0.016515694558620453,
                        "pitch": 2.0746562480926514,
                        "yaw": -0.9422302842140198
                    }
                },
                "velocity": {
                    "x": 5.192380428314209,
                    "y": -0.09103503823280334,
                    "z": 0.1943933069705963
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.481032371520996,
                "transform": {
                    "location": {
                        "x": -1163.145263671875,
                        "y": 3105.41064453125,
                        "z": 352.8324890136719
                    },
                    "rotation": {
                        "roll": 0.027067139744758606,
                        "pitch": 2.3931000232696533,
                        "yaw": -0.6030884981155396
                    }
                },
                "velocity": {
                    "x": 1.4798370599746704,
                    "y": -0.01719372160732746,
                    "z": 0.05695026367902756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.904881477355957,
                "transform": {
                    "location": {
                        "x": -1140.0015869140625,
                        "y": 3094.47021484375,
                        "z": 353.6900329589844
                    },
                    "rotation": {
                        "roll": 0.0065763890743255615,
                        "pitch": 2.0892727375030518,
                        "yaw": -1.197784423828125
                    }
                },
                "velocity": {
                    "x": 7.897884845733643,
                    "y": -0.1643614023923874,
                    "z": 0.2890493869781494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.141197204589844,
                "transform": {
                    "location": {
                        "x": -1140.653076171875,
                        "y": 3097.982177734375,
                        "z": 353.6533508300781
                    },
                    "rotation": {
                        "roll": 0.005023872945457697,
                        "pitch": 2.10662841796875,
                        "yaw": -1.154815673828125
                    }
                },
                "velocity": {
                    "x": 8.134119033813477,
                    "y": -0.1638455092906952,
                    "z": 0.29723355174064636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.378257751464844,
                "transform": {
                    "location": {
                        "x": -1140.3011474609375,
                        "y": 3101.474365234375,
                        "z": 353.70733642578125
                    },
                    "rotation": {
                        "roll": 0.007231284864246845,
                        "pitch": 2.2262794971466064,
                        "yaw": -1.13726806640625
                    }
                },
                "velocity": {
                    "x": 8.370939254760742,
                    "y": -0.16970016062259674,
                    "z": 0.30622169375419617
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.183504104614258,
                "transform": {
                    "location": {
                        "x": -1140.4840087890625,
                        "y": 3104.97705078125,
                        "z": 353.6690979003906
                    },
                    "rotation": {
                        "roll": 0.014812943525612354,
                        "pitch": 2.0825791358947754,
                        "yaw": -1.087890625
                    }
                },
                "velocity": {
                    "x": 8.176541328430176,
                    "y": -0.15851368010044098,
                    "z": 0.29797273874282837
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.4976806640625,
                        "y": 3081.8291015625,
                        "z": 356.35003662109375
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058769226074219,
                "transform": {
                    "location": {
                        "x": -1054.544189453125,
                        "y": 3078.365966796875,
                        "z": 356.2528381347656
                    },
                    "rotation": {
                        "roll": 0.00017727474914863706,
                        "pitch": -0.9784518480300903,
                        "yaw": 178.7476348876953
                    }
                },
                "velocity": {
                    "x": -8.055608749389648,
                    "y": 0.17882630228996277,
                    "z": -0.13765038549900055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.36620330810547,
                "transform": {
                    "location": {
                        "x": -1092.337890625,
                        "y": 3075.80859375,
                        "z": 355.3864440917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7583569288253784,
                        "yaw": 178.72373962402344
                    }
                },
                "velocity": {
                    "x": -16.354736328125,
                    "y": 0.3646312952041626,
                    "z": -0.4921887218952179
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.894447326660156,
                "transform": {
                    "location": {
                        "x": -1161.6015625,
                        "y": 3077.3564453125,
                        "z": 352.90325927734375
                    },
                    "rotation": {
                        "roll": -0.0006103504565544426,
                        "pitch": -2.165736675262451,
                        "yaw": 178.70692443847656
                    }
                },
                "velocity": {
                    "x": -15.879164695739746,
                    "y": 0.35506224632263184,
                    "z": -0.5995973944664001
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.6268310546875,
                        "y": 3081.75048828125,
                        "z": 345.7835998535156
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1285.2894287109375,
                        "y": 3080.119384765625,
                        "z": 346.98150634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1261.2999267578125,
                        "y": 3079.5830078125,
                        "z": 347.98944091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.473743438720703,
                "transform": {
                    "location": {
                        "x": -1188.384521484375,
                        "y": 3077.954345703125,
                        "z": 351.7419738769531
                    },
                    "rotation": {
                        "roll": 0.0015338645316660404,
                        "pitch": -2.8803725242614746,
                        "yaw": 178.71932983398438
                    }
                },
                "velocity": {
                    "x": -16.449474334716797,
                    "y": 0.369857519865036,
                    "z": -0.8137755990028381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.5181884765625,
                        "y": 3057.045654296875,
                        "z": 357.1856994628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.800288677215576,
                        "yaw": 164.23300170898438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06243896484375,
                "transform": {
                    "location": {
                        "x": -1067.4171142578125,
                        "y": 3062.59033203125,
                        "z": 356.2898864746094
                    },
                    "rotation": {
                        "roll": -0.0018005635356530547,
                        "pitch": -2.3614490032196045,
                        "yaw": 162.54347229003906
                    }
                },
                "velocity": {
                    "x": -7.684104919433594,
                    "y": 2.418384075164795,
                    "z": -0.32996198534965515
                },
                "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": 0.2119583636522293,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            7.855284616789159,
            0.5447824131173639
        ],
        "target_point_next": [
            13.972113916983139,
            -2.746836684607342
        ]
    },
    "335": {
        "acceleration": [
            -1.0121726989746094,
            -0.3100299835205078,
            -0.04469871520996094
        ],
        "angular_velocity": [
            -0.1499110907316208,
            0.09144652634859085,
            1.4313881397247314
        ],
        "forward_vector": [
            -0.998083770275116,
            0.050711240619421005,
            -0.03545840084552765
        ],
        "right_vector": [
            -0.05077332630753517,
            -0.9987098574638367,
            0.0008522077114321291
        ],
        "location": [
            -1127.859375,
            3073.49462890625,
            354.1460876464844
        ],
        "rotation": [
            -0.0488586351275444,
            -2.0320427417755127,
            177.0913848876953
        ],
        "velocity": [
            -15.269176483154297,
            0.7736446857452393,
            -0.5572527050971985
        ],
        "speed": 15.288763081868137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.715391159057617,
        "front_vehicle_info": {
            "id": 5419,
            "type": "vehicle.audi.tt",
            "location": [
                -1138.6263427734375,
                3097.940673828125,
                353.7273254394531
            ],
            "velocity": [
                8.001401901245117,
                -0.1679144650697708,
                0.29201245307922363
            ],
            "speed_kmh": 28.830561043371016,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -1171.5086669921875,
                        "y": 3102.083251953125,
                        "z": 352.57659912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 2.1829383456406504e-07,
                    "y": -4.876491210836775e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5427,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.7149658203125,
                        "y": 3081.52294921875,
                        "z": 356.5071716308594
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.394423484802246,
                "transform": {
                    "location": {
                        "x": -1058.1553955078125,
                        "y": 3075.045654296875,
                        "z": 356.19744873046875
                    },
                    "rotation": {
                        "roll": -0.0004882804933004081,
                        "pitch": -1.0235310792922974,
                        "yaw": 178.71578979492188
                    }
                },
                "velocity": {
                    "x": -15.388162612915039,
                    "y": 0.3448847532272339,
                    "z": -0.27160799503326416
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.6136474609375,
                        "y": 3078.153564453125,
                        "z": 356.4520263671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.2487077713012695,
                "transform": {
                    "location": {
                        "x": -1157.3299560546875,
                        "y": 3094.835205078125,
                        "z": 353.0535888671875
                    },
                    "rotation": {
                        "roll": 0.021065721288323402,
                        "pitch": 2.35945463180542,
                        "yaw": -0.9787596464157104
                    }
                },
                "velocity": {
                    "x": 5.244269847869873,
                    "y": -0.09540079534053802,
                    "z": 0.19355624914169312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.799765586853027,
                "transform": {
                    "location": {
                        "x": -1159.5938720703125,
                        "y": 3098.370849609375,
                        "z": 352.9757995605469
                    },
                    "rotation": {
                        "roll": 0.017059262841939926,
                        "pitch": 2.083747148513794,
                        "yaw": -0.80792236328125
                    }
                },
                "velocity": {
                    "x": 5.795168399810791,
                    "y": -0.07965801656246185,
                    "z": 0.21670711040496826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.740119934082031,
                "transform": {
                    "location": {
                        "x": -1155.067138671875,
                        "y": 3101.790771484375,
                        "z": 353.1388854980469
                    },
                    "rotation": {
                        "roll": 0.012706253677606583,
                        "pitch": 2.288837194442749,
                        "yaw": -0.9878234267234802
                    }
                },
                "velocity": {
                    "x": 5.735339641571045,
                    "y": -0.10475444793701172,
                    "z": 0.20948420464992523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.878681182861328,
                "transform": {
                    "location": {
                        "x": -1162.60595703125,
                        "y": 3105.404296875,
                        "z": 352.852294921875
                    },
                    "rotation": {
                        "roll": 0.026625195518136024,
                        "pitch": 2.5210022926330566,
                        "yaw": -0.6463013291358948
                    }
                },
                "velocity": {
                    "x": 2.876324415206909,
                    "y": -0.035665690898895264,
                    "z": 0.11086444556713104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.066730499267578,
                "transform": {
                    "location": {
                        "x": -1138.010498046875,
                        "y": 3094.428466796875,
                        "z": 353.7626953125
                    },
                    "rotation": {
                        "roll": 0.004368952941149473,
                        "pitch": 2.118649482727051,
                        "yaw": -1.188385248184204
                    }
                },
                "velocity": {
                    "x": 8.059599876403809,
                    "y": -0.16968286037445068,
                    "z": 0.29359808564186096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.008489608764648,
                "transform": {
                    "location": {
                        "x": -1138.6263427734375,
                        "y": 3097.940673828125,
                        "z": 353.7273254394531
                    },
                    "rotation": {
                        "roll": 0.004198347218334675,
                        "pitch": 2.0932888984680176,
                        "yaw": -1.17431640625
                    }
                },
                "velocity": {
                    "x": 8.001401901245117,
                    "y": -0.1679144650697708,
                    "z": 0.29201245307922363
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.833412170410156,
                "transform": {
                    "location": {
                        "x": -1138.2784423828125,
                        "y": 3101.433349609375,
                        "z": 353.7823791503906
                    },
                    "rotation": {
                        "roll": 0.006835281383246183,
                        "pitch": 2.083521842956543,
                        "yaw": -1.1539306640625
                    }
                },
                "velocity": {
                    "x": 7.826519012451172,
                    "y": -0.16368773579597473,
                    "z": 0.2848759889602661
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.852085590362549,
                "transform": {
                    "location": {
                        "x": -1138.49365234375,
                        "y": 3104.9384765625,
                        "z": 353.74249267578125
                    },
                    "rotation": {
                        "roll": 0.009615774266421795,
                        "pitch": 1.9812260866165161,
                        "yaw": -1.150909423828125
                    }
                },
                "velocity": {
                    "x": 7.845241069793701,
                    "y": -0.15930281579494476,
                    "z": 0.28646114468574524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.5802001953125,
                        "y": 3081.877197265625,
                        "z": 356.3197937011719
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.608642578125,
                        "y": 3078.49365234375,
                        "z": 356.21978759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.365310668945312,
                "transform": {
                    "location": {
                        "x": -1096.4259033203125,
                        "y": 3075.89990234375,
                        "z": 355.2606201171875
                    },
                    "rotation": {
                        "roll": -0.00039672787534072995,
                        "pitch": -1.7967835664749146,
                        "yaw": 178.71826171875
                    }
                },
                "velocity": {
                    "x": -16.353132247924805,
                    "y": 0.3656810224056244,
                    "z": -0.5145089030265808
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.900592803955078,
                "transform": {
                    "location": {
                        "x": -1165.571044921875,
                        "y": 3077.4453125,
                        "z": 352.7497863769531
                    },
                    "rotation": {
                        "roll": 0.0006697695353068411,
                        "pitch": -2.2997381687164307,
                        "yaw": 178.72274780273438
                    }
                },
                "velocity": {
                    "x": -15.884028434753418,
                    "y": 0.3547593653202057,
                    "z": -0.6329589486122131
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5392,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1330.869140625,
                        "y": 3081.997314453125,
                        "z": 345.7210388183594
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.532470703125,
                        "y": 3080.221435546875,
                        "z": 346.8266296386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1265.5411376953125,
                        "y": 3079.677978515625,
                        "z": 347.79534912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47730255126953,
                "transform": {
                    "location": {
                        "x": -1192.49609375,
                        "y": 3078.04638671875,
                        "z": 351.5354309082031
                    },
                    "rotation": {
                        "roll": -0.0012512152316048741,
                        "pitch": -2.990748405456543,
                        "yaw": 178.71917724609375
                    }
                },
                "velocity": {
                    "x": -16.451810836791992,
                    "y": 0.3658691942691803,
                    "z": -0.8399781584739685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.523193359375,
                        "y": 3057.601806640625,
                        "z": 357.0821838378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.800288677215576,
                        "yaw": 164.23300170898438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.059083938598633,
                "transform": {
                    "location": {
                        "x": -1069.338134765625,
                        "y": 3063.195556640625,
                        "z": 356.2090148925781
                    },
                    "rotation": {
                        "roll": -0.0020751734264194965,
                        "pitch": -2.2854905128479004,
                        "yaw": 162.50477600097656
                    }
                },
                "velocity": {
                    "x": -7.67744255065918,
                    "y": 2.429426431655884,
                    "z": -0.32187125086784363
                },
                "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": -0.15980206429958344,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            10.161400432148756,
            -2.8193086317022997
        ],
        "target_point_next": [
            61.140690204338775,
            -1.3695033854170324
        ]
    },
    "340": {
        "acceleration": [
            -1.0776901245117188,
            0.10503888130187988,
            -0.02029895782470703
        ],
        "angular_velocity": [
            0.3018569350242615,
            0.03467797487974167,
            0.11391967535018921
        ],
        "forward_vector": [
            -0.9983255863189697,
            0.045968908816576004,
            -0.03511231020092964
        ],
        "right_vector": [
            -0.046023353934288025,
            -0.9989400506019592,
            0.0007436283049173653
        ],
        "location": [
            -1131.7115478515625,
            3073.68115234375,
            354.0054626464844
        ],
        "rotation": [
            -0.0426330529153347,
            -2.0122008323669434,
            177.36361694335938
        ],
        "velocity": [
            -15.537446022033691,
            0.7318211197853088,
            -0.5659323930740356
        ],
        "speed": 15.554671036025622,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1171.6651611328125,
                        "y": 3095.085205078125,
                        "z": 352.8411560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 2.0194249827909516e-08,
                    "y": -4.5112166779937013e-10,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5429,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.8795166015625,
                        "y": 3077.847412109375,
                        "z": 356.5749816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15877370536327362,
                "transform": {
                    "location": {
                        "x": -1171.5042724609375,
                        "y": 3102.083251953125,
                        "z": 352.4451904296875
                    },
                    "rotation": {
                        "roll": -0.002777099609375,
                        "pitch": 2.427551507949829,
                        "yaw": -1.2794189453125
                    }
                },
                "velocity": {
                    "x": -0.006788111757487059,
                    "y": 0.00030861448612995446,
                    "z": 0.15862824022769928
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5427,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.7974853515625,
                        "y": 3081.56982421875,
                        "z": 356.49029541015625
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.685813903808594,
                "transform": {
                    "location": {
                        "x": -1061.986328125,
                        "y": 3075.131103515625,
                        "z": 356.1276550292969
                    },
                    "rotation": {
                        "roll": -0.0012207026593387127,
                        "pitch": -1.1199324131011963,
                        "yaw": 178.72373962402344
                    }
                },
                "velocity": {
                    "x": -14.67944622039795,
                    "y": 0.3273712396621704,
                    "z": -0.28252628445625305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5425,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.6961669921875,
                        "y": 3078.200439453125,
                        "z": 356.4285888671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.879986763000488,
                "transform": {
                    "location": {
                        "x": -1155.7969970703125,
                        "y": 3094.80712890625,
                        "z": 353.1090087890625
                    },
                    "rotation": {
                        "roll": 0.016360916197299957,
                        "pitch": 2.607369899749756,
                        "yaw": -1.0225220918655396
                    }
                },
                "velocity": {
                    "x": 6.874208450317383,
                    "y": -0.12688641250133514,
                    "z": 0.2517440915107727
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9554266929626465,
                "transform": {
                    "location": {
                        "x": -1158.07275390625,
                        "y": 3098.34619140625,
                        "z": 353.0330505371094
                    },
                    "rotation": {
                        "roll": 0.0082770437002182,
                        "pitch": 2.005889892578125,
                        "yaw": -0.8933715224266052
                    }
                },
                "velocity": {
                    "x": 6.949567794799805,
                    "y": -0.12618233263492584,
                    "z": 0.25601431727409363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.333780765533447,
                "transform": {
                    "location": {
                        "x": -1153.373046875,
                        "y": 3101.760498046875,
                        "z": 353.1983947753906
                    },
                    "rotation": {
                        "roll": 0.016271961852908134,
                        "pitch": 2.5409395694732666,
                        "yaw": -1.082610845565796
                    }
                },
                "velocity": {
                    "x": 7.327598571777344,
                    "y": -0.14124439656734467,
                    "z": 0.2658687233924866
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.771930694580078,
                "transform": {
                    "location": {
                        "x": -1161.6513671875,
                        "y": 3105.392333984375,
                        "z": 352.88824462890625
                    },
                    "rotation": {
                        "roll": 0.026042087003588676,
                        "pitch": 2.622150421142578,
                        "yaw": -0.6707153916358948
                    }
                },
                "velocity": {
                    "x": 4.768008232116699,
                    "y": -0.05968690291047096,
                    "z": 0.18399842083454132
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044462203979492,
                "transform": {
                    "location": {
                        "x": -1135.9921875,
                        "y": 3094.38525390625,
                        "z": 353.8362121582031
                    },
                    "rotation": {
                        "roll": 0.0032224722672253847,
                        "pitch": 2.1036572456359863,
                        "yaw": -1.24237060546875
                    }
                },
                "velocity": {
                    "x": 8.037199974060059,
                    "y": -0.17350459098815918,
                    "z": 0.29442861676216125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.009794235229492,
                "transform": {
                    "location": {
                        "x": -1136.6341552734375,
                        "y": 3097.898681640625,
                        "z": 353.79998779296875
                    },
                    "rotation": {
                        "roll": 0.0022344805765897036,
                        "pitch": 2.091840982437134,
                        "yaw": -1.210174560546875
                    }
                },
                "velocity": {
                    "x": 8.002673149108887,
                    "y": -0.17131133377552032,
                    "z": 0.2909981608390808
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.020682334899902,
                "transform": {
                    "location": {
                        "x": -1136.318115234375,
                        "y": 3101.392333984375,
                        "z": 353.8536376953125
                    },
                    "rotation": {
                        "roll": 0.004629290662705898,
                        "pitch": 2.106566905975342,
                        "yaw": -1.2189635038375854
                    }
                },
                "velocity": {
                    "x": 8.013524055480957,
                    "y": -0.1713714897632599,
                    "z": 0.29225826263427734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092419624328613,
                "transform": {
                    "location": {
                        "x": -1136.5050048828125,
                        "y": 3104.8974609375,
                        "z": 353.8138122558594
                    },
                    "rotation": {
                        "roll": 0.007866861298680305,
                        "pitch": 2.1361279487609863,
                        "yaw": -1.196929931640625
                    }
                },
                "velocity": {
                    "x": 8.08525276184082,
                    "y": -0.17016588151454926,
                    "z": 0.2949223518371582
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5416,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.6627197265625,
                        "y": 3081.92333984375,
                        "z": 356.28607177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5415,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.691162109375,
                        "y": 3078.548095703125,
                        "z": 356.1813049316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.367046356201172,
                "transform": {
                    "location": {
                        "x": -1100.513427734375,
                        "y": 3075.991455078125,
                        "z": 355.1283874511719
                    },
                    "rotation": {
                        "roll": 0.00034073955612257123,
                        "pitch": -1.8998101949691772,
                        "yaw": 178.71868896484375
                    }
                },
                "velocity": {
                    "x": -16.35398292541504,
                    "y": 0.3657943308353424,
                    "z": -0.5418456792831421
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.906281471252441,
                "transform": {
                    "location": {
                        "x": -1169.542236328125,
                        "y": 3077.533935546875,
                        "z": 352.5888977050781
                    },
                    "rotation": {
                        "roll": -0.0024108903016895056,
                        "pitch": -2.365717887878418,
                        "yaw": 178.72496032714844
                    }
                },
                "velocity": {
                    "x": -15.888559341430664,
                    "y": 0.35179176926612854,
                    "z": -0.663104772567749
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.777099609375,
                        "y": 3080.338623046875,
                        "z": 346.6787109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1269.7841796875,
                        "y": 3079.772705078125,
                        "z": 347.60845947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.48061180114746,
                "transform": {
                    "location": {
                        "x": -1196.6085205078125,
                        "y": 3078.138427734375,
                        "z": 351.32135009765625
                    },
                    "rotation": {
                        "roll": -3.0515999242197722e-05,
                        "pitch": -3.063838243484497,
                        "yaw": 178.72218322753906
                    }
                },
                "velocity": {
                    "x": -16.453332901000977,
                    "y": 0.36860889196395874,
                    "z": -0.8732385635375977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5387,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.525390625,
                        "y": 3058.167236328125,
                        "z": 356.98089599609375
                    },
                    "rotation": {
                        "roll": 2.6709313871720042e-08,
                        "pitch": -2.6650917530059814,
                        "yaw": 163.6600341796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5386,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06093978881836,
                "transform": {
                    "location": {
                        "x": -1071.2574462890625,
                        "y": 3063.8046875,
                        "z": 356.1293640136719
                    },
                    "rotation": {
                        "roll": -0.00042721975478343666,
                        "pitch": -2.2621448040008545,
                        "yaw": 162.39089965820312
                    }
                },
                "velocity": {
                    "x": -7.676152229309082,
                    "y": 2.440636157989502,
                    "z": -0.31421157717704773
                },
                "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": -1.000891923904419,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            57.27681740699095,
            -1.6508707615175067
        ],
        "target_point_next": [
            108.262553821561,
            -0.44355662611849844
        ]
    },
    "345": {
        "acceleration": [
            -1.0385513305664062,
            0.7251906394958496,
            -0.04392266273498535
        ],
        "angular_velocity": [
            0.7330031991004944,
            -0.017748888581991196,
            -2.705259084701538
        ],
        "forward_vector": [
            -0.9979987144470215,
            0.052709802985191345,
            -0.03493194282054901
        ],
        "right_vector": [
            -0.052672501653432846,
            -0.9986098408699036,
            -0.00198777811601758
        ],
        "location": [
            -1135.6304931640625,
            3073.87646484375,
            353.8624572753906
        ],
        "rotation": [
            0.11396092921495438,
            -2.0018601417541504,
            176.97669982910156
        ],
        "velocity": [
            -15.801298141479492,
            0.8474023938179016,
            -0.5763245224952698
        ],
        "speed": 15.82400435329097,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.0159912109375,
                        "y": 3106.421875,
                        "z": 350.6873779296875
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.0941162109375,
                        "y": 3102.923095703125,
                        "z": 350.6873779296875
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.1722412109375,
                        "y": 3099.424072265625,
                        "z": 350.6873779296875
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.25048828125,
                        "y": 3095.924560546875,
                        "z": 350.6873779296875
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5684481859207153,
                "transform": {
                    "location": {
                        "x": -1171.6597900390625,
                        "y": 3095.085205078125,
                        "z": 352.44482421875
                    },
                    "rotation": {
                        "roll": 0.00038045490509830415,
                        "pitch": 2.4066717624664307,
                        "yaw": -1.27960205078125
                    }
                },
                "velocity": {
                    "x": 0.023774512112140656,
                    "y": -0.000590324925724417,
                    "z": -0.5679504871368408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.040127158164978,
                "transform": {
                    "location": {
                        "x": -1171.413330078125,
                        "y": 3102.08251953125,
                        "z": 352.4779968261719
                    },
                    "rotation": {
                        "roll": -0.0020141592249274254,
                        "pitch": 2.490928888320923,
                        "yaw": -1.270873785018921
                    }
                },
                "velocity": {
                    "x": 1.03420090675354,
                    "y": -0.00827119592577219,
                    "z": 0.11056462675333023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.6734619140625,
                        "y": 3075.213134765625,
                        "z": 356.0538635253906
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.270851135253906,
                "transform": {
                    "location": {
                        "x": -1153.884765625,
                        "y": 3094.771728515625,
                        "z": 353.17828369140625
                    },
                    "rotation": {
                        "roll": 0.017526758834719658,
                        "pitch": 2.7170286178588867,
                        "yaw": -1.0670166015625
                    }
                },
                "velocity": {
                    "x": 8.26378059387207,
                    "y": -0.16153833270072937,
                    "z": 0.301345556974411
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.024272918701172,
                "transform": {
                    "location": {
                        "x": -1156.1832275390625,
                        "y": 3098.312744140625,
                        "z": 353.1028137207031
                    },
                    "rotation": {
                        "roll": 0.009531665593385696,
                        "pitch": 1.9632762670516968,
                        "yaw": -0.9688414931297302
                    }
                },
                "velocity": {
                    "x": 8.017573356628418,
                    "y": -0.14427874982357025,
                    "z": 0.2943798899650574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.475449562072754,
                "transform": {
                    "location": {
                        "x": -1151.391845703125,
                        "y": 3101.721923828125,
                        "z": 353.2716064453125
                    },
                    "rotation": {
                        "roll": 0.012090958654880524,
                        "pitch": 2.401644706726074,
                        "yaw": -1.1752623319625854
                    }
                },
                "velocity": {
                    "x": 8.468079566955566,
                    "y": -0.17197267711162567,
                    "z": 0.308705598115921
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.799082279205322,
                "transform": {
                    "location": {
                        "x": -1160.3360595703125,
                        "y": 3105.376220703125,
                        "z": 352.940185546875
                    },
                    "rotation": {
                        "roll": 0.02333412878215313,
                        "pitch": 2.4279818534851074,
                        "yaw": -0.699371337890625
                    }
                },
                "velocity": {
                    "x": 5.794539451599121,
                    "y": -0.0727231502532959,
                    "z": 0.21767418086528778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.999701499938965,
                "transform": {
                    "location": {
                        "x": -1133.9925537109375,
                        "y": 3094.342041015625,
                        "z": 353.9091796875
                    },
                    "rotation": {
                        "roll": 0.0036567444913089275,
                        "pitch": 2.0973801612854004,
                        "yaw": -1.220489501953125
                    }
                },
                "velocity": {
                    "x": 7.992493152618408,
                    "y": -0.17389321327209473,
                    "z": 0.2916131019592285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04128646850586,
                "transform": {
                    "location": {
                        "x": -1134.6256103515625,
                        "y": 3097.85595703125,
                        "z": 353.8731994628906
                    },
                    "rotation": {
                        "roll": 0.0014371713623404503,
                        "pitch": 2.0970592498779297,
                        "yaw": -1.21942138671875
                    }
                },
                "velocity": {
                    "x": 8.034133911132812,
                    "y": -0.1710689663887024,
                    "z": 0.29275450110435486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.098501205444336,
                "transform": {
                    "location": {
                        "x": -1134.2864990234375,
                        "y": 3101.349365234375,
                        "z": 353.92767333984375
                    },
                    "rotation": {
                        "roll": 0.0032509882003068924,
                        "pitch": 2.10783052444458,
                        "yaw": -1.2061766386032104
                    }
                },
                "velocity": {
                    "x": 8.091300010681152,
                    "y": -0.1722038835287094,
                    "z": 0.2948366701602936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.097524642944336,
                "transform": {
                    "location": {
                        "x": -1134.4747314453125,
                        "y": 3104.85498046875,
                        "z": 353.8876953125
                    },
                    "rotation": {
                        "roll": 0.003603612771257758,
                        "pitch": 2.1517484188079834,
                        "yaw": -1.2147216796875
                    }
                },
                "velocity": {
                    "x": 8.090338706970215,
                    "y": -0.1722368746995926,
                    "z": 0.29438358545303345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.369951248168945,
                "transform": {
                    "location": {
                        "x": -1104.6011962890625,
                        "y": 3076.082763671875,
                        "z": 354.9905090332031
                    },
                    "rotation": {
                        "roll": -0.0011291529517620802,
                        "pitch": -2.028532028198242,
                        "yaw": 178.72116088867188
                    }
                },
                "velocity": {
                    "x": -16.356266021728516,
                    "y": 0.3642822206020355,
                    "z": -0.5613872408866882
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.91113567352295,
                "transform": {
                    "location": {
                        "x": -1173.5145263671875,
                        "y": 3077.622314453125,
                        "z": 352.42144775390625
                    },
                    "rotation": {
                        "roll": 0.00039193726843222976,
                        "pitch": -2.440030336380005,
                        "yaw": 178.71636962890625
                    }
                },
                "velocity": {
                    "x": -15.892528533935547,
                    "y": 0.35869836807250977,
                    "z": -0.6805213093757629
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.022705078125,
                        "y": 3080.470947265625,
                        "z": 346.53570556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.029052734375,
                        "y": 3079.86767578125,
                        "z": 347.42840576171875
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.483442306518555,
                "transform": {
                    "location": {
                        "x": -1200.72119140625,
                        "y": 3078.230224609375,
                        "z": 351.1003723144531
                    },
                    "rotation": {
                        "roll": -0.00024413553182967007,
                        "pitch": -3.1541128158569336,
                        "yaw": 178.71676635742188
                    }
                },
                "velocity": {
                    "x": -16.454986572265625,
                    "y": 0.3683151304721832,
                    "z": -0.8953468203544617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9993078708648682,
        "expert_target_speed": 20.0,
        "target_point": [
            53.362867630153566,
            -1.2756992350517202
        ],
        "target_point_next": [
            104.33928861716133,
            0.2758897932998847
        ]
    },
    "350": {
        "acceleration": [
            -1.0247039794921875,
            0.9600067138671875,
            -0.015484094619750977
        ],
        "angular_velocity": [
            0.6550443768501282,
            -0.03019251674413681,
            -3.388263702392578
        ],
        "forward_vector": [
            -0.9971632957458496,
            0.06670931726694107,
            -0.034859027713537216
        ],
        "right_vector": [
            -0.06657008826732635,
            -0.9977684617042542,
            -0.00514078326523304
        ],
        "location": [
            -1139.6146240234375,
            3074.11376953125,
            353.7170715332031
        ],
        "rotation": [
            0.294725626707077,
            -1.9976799488067627,
            176.17266845703125
        ],
        "velocity": [
            -16.06015396118164,
            1.0635823011398315,
            -0.585871160030365
        ],
        "speed": 16.09533325433668,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.9344482421875,
                        "y": 3106.375,
                        "z": 350.7694396972656
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.0125732421875,
                        "y": 3102.876220703125,
                        "z": 350.7694396972656
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.0906982421875,
                        "y": 3099.377197265625,
                        "z": 350.7694396972656
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.169189453125,
                        "y": 3095.877685546875,
                        "z": 350.7694396972656
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.22092010080814362,
                "transform": {
                    "location": {
                        "x": -1171.66064453125,
                        "y": 3095.085205078125,
                        "z": 352.4675598144531
                    },
                    "rotation": {
                        "roll": 0.0001311667001573369,
                        "pitch": 2.4077303409576416,
                        "yaw": -1.2794800996780396
                    }
                },
                "velocity": {
                    "x": -0.009415808133780956,
                    "y": 0.000242237641941756,
                    "z": 0.22071921825408936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7180120944976807,
                "transform": {
                    "location": {
                        "x": -1171.07421875,
                        "y": 3102.081298828125,
                        "z": 352.4991760253906
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": 2.4759366512298584,
                        "yaw": -1.355712890625
                    }
                },
                "velocity": {
                    "x": 1.7160468101501465,
                    "y": -0.013384674675762653,
                    "z": 0.08105441927909851
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.6375732421875,
                        "y": 3075.3017578125,
                        "z": 355.96929931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.139078140258789,
                "transform": {
                    "location": {
                        "x": -1151.8096923828125,
                        "y": 3094.730224609375,
                        "z": 353.25518798828125
                    },
                    "rotation": {
                        "roll": 0.017756033688783646,
                        "pitch": 2.358833074569702,
                        "yaw": -1.1512147188186646
                    }
                },
                "velocity": {
                    "x": 8.131987571716309,
                    "y": -0.1661481112241745,
                    "z": 0.29627636075019836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.177285194396973,
                "transform": {
                    "location": {
                        "x": -1154.1390380859375,
                        "y": 3098.276123046875,
                        "z": 353.1767578125
                    },
                    "rotation": {
                        "roll": 0.008469769731163979,
                        "pitch": 2.0429368019104004,
                        "yaw": -1.0479124784469604
                    }
                },
                "velocity": {
                    "x": 8.170479774475098,
                    "y": -0.15035602450370789,
                    "z": 0.29774078726768494
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.88578987121582,
                "transform": {
                    "location": {
                        "x": -1149.34716796875,
                        "y": 3101.68017578125,
                        "z": 353.3492126464844
                    },
                    "rotation": {
                        "roll": 0.005558778066188097,
                        "pitch": 2.0260183811187744,
                        "yaw": -1.212554931640625
                    }
                },
                "velocity": {
                    "x": 7.87885856628418,
                    "y": -0.16314779222011566,
                    "z": 0.2874912917613983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.433562755584717,
                "transform": {
                    "location": {
                        "x": -1158.71533203125,
                        "y": 3105.35546875,
                        "z": 353.0002136230469
                    },
                    "rotation": {
                        "roll": 0.027514290064573288,
                        "pitch": 2.478675603866577,
                        "yaw": -0.7406615614891052
                    }
                },
                "velocity": {
                    "x": 7.427602291107178,
                    "y": -0.11223939806222916,
                    "z": 0.2756504714488983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.111109733581543,
                "transform": {
                    "location": {
                        "x": -1131.98486328125,
                        "y": 3094.298095703125,
                        "z": 353.98236083984375
                    },
                    "rotation": {
                        "roll": 0.0012251317966729403,
                        "pitch": 2.1139297485351562,
                        "yaw": -1.2705076932907104
                    }
                },
                "velocity": {
                    "x": 8.103796005249023,
                    "y": -0.17926709353923798,
                    "z": 0.2940296232700348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.102657318115234,
                "transform": {
                    "location": {
                        "x": -1132.6160888671875,
                        "y": 3097.8125,
                        "z": 353.94647216796875
                    },
                    "rotation": {
                        "roll": 0.0016864113276824355,
                        "pitch": 2.094996452331543,
                        "yaw": -1.2440794706344604
                    }
                },
                "velocity": {
                    "x": 8.095257759094238,
                    "y": -0.17876455187797546,
                    "z": 0.29648923873901367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.947381973266602,
                "transform": {
                    "location": {
                        "x": -1132.2945556640625,
                        "y": 3101.30615234375,
                        "z": 354.00054931640625
                    },
                    "rotation": {
                        "roll": 0.002259953413158655,
                        "pitch": 2.085570812225342,
                        "yaw": -1.2594600915908813
                    }
                },
                "velocity": {
                    "x": 7.940171718597412,
                    "y": -0.17474086582660675,
                    "z": 0.2898631691932678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052434921264648,
                "transform": {
                    "location": {
                        "x": -1132.46435546875,
                        "y": 3104.8115234375,
                        "z": 353.9615478515625
                    },
                    "rotation": {
                        "roll": 0.004375731106847525,
                        "pitch": 2.082920789718628,
                        "yaw": -1.2421263456344604
                    }
                },
                "velocity": {
                    "x": 8.045169830322266,
                    "y": -0.17665399610996246,
                    "z": 0.29283082485198975
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.371374130249023,
                "transform": {
                    "location": {
                        "x": -1108.690185546875,
                        "y": 3076.17431640625,
                        "z": 354.8456115722656
                    },
                    "rotation": {
                        "roll": -0.0006713850889354944,
                        "pitch": -2.0445828437805176,
                        "yaw": 178.71783447265625
                    }
                },
                "velocity": {
                    "x": -16.356826782226562,
                    "y": 0.3659573197364807,
                    "z": -0.5850095152854919
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.91694164276123,
                "transform": {
                    "location": {
                        "x": -1177.4874267578125,
                        "y": 3077.71142578125,
                        "z": 352.2467956542969
                    },
                    "rotation": {
                        "roll": 0.00038142173434607685,
                        "pitch": -2.575432062149048,
                        "yaw": 178.71710205078125
                    }
                },
                "velocity": {
                    "x": -15.896982192993164,
                    "y": 0.3558838665485382,
                    "z": -0.7129795551300049
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1302.267822265625,
                        "y": 3080.61767578125,
                        "z": 346.39471435546875
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1278.274169921875,
                        "y": 3079.96240234375,
                        "z": 347.2552185058594
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.485475540161133,
                "transform": {
                    "location": {
                        "x": -1204.834716796875,
                        "y": 3078.322021484375,
                        "z": 350.87469482421875
                    },
                    "rotation": {
                        "roll": -0.000915528042241931,
                        "pitch": -3.2140135765075684,
                        "yaw": 178.72361755371094
                    }
                },
                "velocity": {
                    "x": -16.45623207092285,
                    "y": 0.36703619360923767,
                    "z": -0.9102795124053955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0010557174682617,
        "expert_target_speed": 20.0,
        "target_point": [
            49.384429407007886,
            -0.5559288271414906
        ],
        "target_point_next": [
            100.33405883507452,
            1.7108279529814636
        ]
    },
    "355": {
        "acceleration": [
            -0.7809066772460938,
            1.0429763793945312,
            -0.03372788429260254
        ],
        "angular_velocity": [
            0.41433191299438477,
            -0.07196363061666489,
            -3.478464126586914
        ],
        "forward_vector": [
            -0.9960405826568604,
            0.08176461607217789,
            -0.034895602613687515
        ],
        "right_vector": [
            -0.08155589550733566,
            -0.9966415762901306,
            -0.007365885190665722
        ],
        "location": [
            -1143.6610107421875,
            3074.409912109375,
            353.5693359375
        ],
        "rotation": [
            0.42229515314102173,
            -1.999776840209961,
            175.30712890625
        ],
        "velocity": [
            -16.289138793945312,
            1.3187557458877563,
            -0.5943043231964111
        ],
        "speed": 16.342434315784356,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.85302734375,
                        "y": 3106.3291015625,
                        "z": 350.8515930175781
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.5792365074157715,
                "transform": {
                    "location": {
                        "x": -1205.0595703125,
                        "y": 3102.835205078125,
                        "z": 350.8477783203125
                    },
                    "rotation": {
                        "roll": -0.039123523980379105,
                        "pitch": 2.712186098098755,
                        "yaw": -1.1807860136032104
                    }
                },
                "velocity": {
                    "x": 6.572854995727539,
                    "y": -0.09574161469936371,
                    "z": 0.2734227478504181
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.630213737487793,
                "transform": {
                    "location": {
                        "x": -1205.2205810546875,
                        "y": 3099.33984375,
                        "z": 350.84027099609375
                    },
                    "rotation": {
                        "roll": 0.02904069796204567,
                        "pitch": 3.3106062412261963,
                        "yaw": -1.105499029159546
                    }
                },
                "velocity": {
                    "x": 6.623865604400635,
                    "y": -0.06257233023643494,
                    "z": 0.28324228525161743
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.567624568939209,
                "transform": {
                    "location": {
                        "x": -1205.374755859375,
                        "y": 3095.845458984375,
                        "z": 350.8397216796875
                    },
                    "rotation": {
                        "roll": -0.0493163987994194,
                        "pitch": 2.726597785949707,
                        "yaw": -0.98358154296875
                    }
                },
                "velocity": {
                    "x": 6.561307907104492,
                    "y": -0.07372989505529404,
                    "z": 0.27837473154067993
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4115965962409973,
                "transform": {
                    "location": {
                        "x": -1171.655517578125,
                        "y": 3095.085205078125,
                        "z": 352.49627685546875
                    },
                    "rotation": {
                        "roll": -9.155215957434848e-05,
                        "pitch": 2.3952105045318604,
                        "yaw": -1.2883604764938354
                    }
                },
                "velocity": {
                    "x": 0.4082333743572235,
                    "y": -0.004336041398346424,
                    "z": 0.052330389618873596
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0997374057769775,
                "transform": {
                    "location": {
                        "x": -1170.451904296875,
                        "y": 3102.07421875,
                        "z": 352.5261535644531
                    },
                    "rotation": {
                        "roll": 0.005507040303200483,
                        "pitch": 2.5119521617889404,
                        "yaw": -1.106414556503296
                    }
                },
                "velocity": {
                    "x": 3.0968260765075684,
                    "y": -0.02694639191031456,
                    "z": 0.131585493683815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1073.6864013671875,
                        "y": 3075.39208984375,
                        "z": 355.8802795410156
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.472431182861328,
                "transform": {
                    "location": {
                        "x": -1149.762451171875,
                        "y": 3094.68798828125,
                        "z": 353.3302001953125
                    },
                    "rotation": {
                        "roll": 0.011809416115283966,
                        "pitch": 2.2586135864257812,
                        "yaw": -1.186248779296875
                    }
                },
                "velocity": {
                    "x": 8.464969635009766,
                    "y": -0.17666025459766388,
                    "z": 0.30850738286972046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.646445274353027,
                "transform": {
                    "location": {
                        "x": -1152.0501708984375,
                        "y": 3098.234619140625,
                        "z": 353.2529296875
                    },
                    "rotation": {
                        "roll": 0.0037816998083144426,
                        "pitch": 2.037452220916748,
                        "yaw": -1.108367919921875
                    }
                },
                "velocity": {
                    "x": 8.638912200927734,
                    "y": -0.1766008883714676,
                    "z": 0.3146819770336151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.480630397796631,
                "transform": {
                    "location": {
                        "x": -1147.446044921875,
                        "y": 3101.64013671875,
                        "z": 353.4192199707031
                    },
                    "rotation": {
                        "roll": 0.004935928620398045,
                        "pitch": 1.9470956325531006,
                        "yaw": -1.22161865234375
                    }
                },
                "velocity": {
                    "x": 7.473945617675781,
                    "y": -0.16027866303920746,
                    "z": 0.27254417538642883
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.458066940307617,
                "transform": {
                    "location": {
                        "x": -1156.801513671875,
                        "y": 3105.325439453125,
                        "z": 353.0711669921875
                    },
                    "rotation": {
                        "roll": 0.03170689567923546,
                        "pitch": 2.4254820346832275,
                        "yaw": -0.9114073514938354
                    }
                },
                "velocity": {
                    "x": 8.451079368591309,
                    "y": -0.14550361037254333,
                    "z": 0.31141021847724915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.942672729492188,
                "transform": {
                    "location": {
                        "x": -1129.86328125,
                        "y": 3094.25146484375,
                        "z": 354.0598449707031
                    },
                    "rotation": {
                        "roll": 0.00228604837320745,
                        "pitch": 2.204586982727051,
                        "yaw": -1.25146484375
                    }
                },
                "velocity": {
                    "x": 8.934531211853027,
                    "y": -0.1974327266216278,
                    "z": 0.32644882798194885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.897917747497559,
                "transform": {
                    "location": {
                        "x": -1130.502685546875,
                        "y": 3097.76611328125,
                        "z": 354.0232238769531
                    },
                    "rotation": {
                        "roll": 0.0013166859280318022,
                        "pitch": 2.137070417404175,
                        "yaw": -1.2617186307907104
                    }
                },
                "velocity": {
                    "x": 8.889798164367676,
                    "y": -0.19804710149765015,
                    "z": 0.32434433698654175
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.79986572265625,
                "transform": {
                    "location": {
                        "x": -1130.2177734375,
                        "y": 3101.26025390625,
                        "z": 354.07562255859375
                    },
                    "rotation": {
                        "roll": 0.0025033236015588045,
                        "pitch": 2.1629910469055176,
                        "yaw": -1.2568663358688354
                    }
                },
                "velocity": {
                    "x": 8.791836738586426,
                    "y": -0.19625255465507507,
                    "z": 0.3204978108406067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.71233081817627,
                "transform": {
                    "location": {
                        "x": -1130.3826904296875,
                        "y": 3104.768310546875,
                        "z": 354.03631591796875
                    },
                    "rotation": {
                        "roll": -0.02124023251235485,
                        "pitch": 2.221040725708008,
                        "yaw": -1.1714173555374146
                    }
                },
                "velocity": {
                    "x": 8.7052583694458,
                    "y": -0.14817240834236145,
                    "z": 0.3181508779525757
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372426986694336,
                "transform": {
                    "location": {
                        "x": -1112.779052734375,
                        "y": 3076.265625,
                        "z": 354.69769287109375
                    },
                    "rotation": {
                        "roll": -0.0013122548116371036,
                        "pitch": -2.1066555976867676,
                        "yaw": 178.723876953125
                    }
                },
                "velocity": {
                    "x": -16.357345581054688,
                    "y": 0.365597665309906,
                    "z": -0.5999516248703003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.921311378479004,
                "transform": {
                    "location": {
                        "x": -1181.4613037109375,
                        "y": 3077.80029296875,
                        "z": 352.0658874511719
                    },
                    "rotation": {
                        "roll": -0.0002746600366663188,
                        "pitch": -2.686641216278076,
                        "yaw": 178.71987915039062
                    }
                },
                "velocity": {
                    "x": -15.900202751159668,
                    "y": 0.3534562885761261,
                    "z": -0.7394241690635681
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.512451171875,
                        "y": 3080.7783203125,
                        "z": 346.2574462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1282.519287109375,
                        "y": 3080.057373046875,
                        "z": 347.08819580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.48528289794922,
                "transform": {
                    "location": {
                        "x": -1208.948974609375,
                        "y": 3078.4140625,
                        "z": 350.64739990234375
                    },
                    "rotation": {
                        "roll": 3.6852947232546285e-05,
                        "pitch": -3.1955857276916504,
                        "yaw": 178.7189483642578
                    }
                },
                "velocity": {
                    "x": -16.456451416015625,
                    "y": 0.36774900555610657,
                    "z": -0.9025064706802368
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9787542819976807,
        "expert_target_speed": 20.0,
        "target_point": [
            45.33014210653794,
            0.1542384674076378
        ],
        "target_point_next": [
            96.2397161315028,
            3.190386974014489
        ]
    },
    "360": {
        "acceleration": [
            -1.1294937133789062,
            1.1208534240722656,
            -0.030633211135864258
        ],
        "angular_velocity": [
            0.2619306743144989,
            0.06230034679174423,
            -3.527312755584717
        ],
        "forward_vector": [
            -0.9946645498275757,
            0.09703066945075989,
            -0.03503618389368057
        ],
        "right_vector": [
            -0.09678042680025101,
            -0.9952670931816101,
            -0.008772951550781727
        ],
        "location": [
            -1147.7567138671875,
            3074.771484375,
            353.41986083984375
        ],
        "rotation": [
            0.5029683709144592,
            -2.00783634185791,
            174.42835998535156
        ],
        "velocity": [
            -16.492679595947266,
            1.5874773263931274,
            -0.6020680665969849
        ],
        "speed": 16.568903539956636,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.52883243560791,
                "transform": {
                    "location": {
                        "x": -1203.194091796875,
                        "y": 3106.302978515625,
                        "z": 350.95806884765625
                    },
                    "rotation": {
                        "roll": 0.011528381146490574,
                        "pitch": 3.0518102645874023,
                        "yaw": -0.9344787001609802
                    }
                },
                "velocity": {
                    "x": 6.514426231384277,
                    "y": -0.08447859436273575,
                    "z": 0.4251669943332672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.656858921051025,
                "transform": {
                    "location": {
                        "x": -1203.40478515625,
                        "y": 3102.815673828125,
                        "z": 350.9264831542969
                    },
                    "rotation": {
                        "roll": -0.0018920892616733909,
                        "pitch": 2.898015022277832,
                        "yaw": -0.7391662001609802
                    }
                },
                "velocity": {
                    "x": 6.647487640380859,
                    "y": -0.08158030360937119,
                    "z": 0.3435461223125458
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.405465602874756,
                "transform": {
                    "location": {
                        "x": -1203.5950927734375,
                        "y": 3099.322509765625,
                        "z": 350.9228820800781
                    },
                    "rotation": {
                        "roll": 0.025438649579882622,
                        "pitch": 3.1807916164398193,
                        "yaw": -0.74639892578125
                    }
                },
                "velocity": {
                    "x": 6.395488739013672,
                    "y": -0.08466775715351105,
                    "z": 0.3471974730491638
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.644567012786865,
                "transform": {
                    "location": {
                        "x": -1203.722412109375,
                        "y": 3095.8271484375,
                        "z": 350.9177551269531
                    },
                    "rotation": {
                        "roll": 0.015480234287679195,
                        "pitch": 2.9906392097473145,
                        "yaw": -0.6808472275733948
                    }
                },
                "velocity": {
                    "x": 6.635298252105713,
                    "y": -0.08324500173330307,
                    "z": 0.34081679582595825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.631561040878296,
                "transform": {
                    "location": {
                        "x": -1171.19482421875,
                        "y": 3095.079833984375,
                        "z": 352.5189514160156
                    },
                    "rotation": {
                        "roll": 0.012812810949981213,
                        "pitch": 2.2247564792633057,
                        "yaw": -1.127014398574829
                    }
                },
                "velocity": {
                    "x": 2.6292572021484375,
                    "y": -0.020656799897551537,
                    "z": 0.10813308507204056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.265839576721191,
                "transform": {
                    "location": {
                        "x": -1169.5306396484375,
                        "y": 3102.064208984375,
                        "z": 352.565185546875
                    },
                    "rotation": {
                        "roll": 0.016035236418247223,
                        "pitch": 2.507765293121338,
                        "yaw": -0.8054505586624146
                    }
                },
                "velocity": {
                    "x": 4.26200532913208,
                    "y": -0.03509439900517464,
                    "z": 0.17738781869411469
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1077.7769775390625,
                        "y": 3075.483154296875,
                        "z": 355.78277587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.38810920715332,
                "transform": {
                    "location": {
                        "x": -1147.5701904296875,
                        "y": 3094.641845703125,
                        "z": 353.40948486328125
                    },
                    "rotation": {
                        "roll": 0.010790131986141205,
                        "pitch": 2.410810708999634,
                        "yaw": -1.2165220975875854
                    }
                },
                "velocity": {
                    "x": 9.379740715026855,
                    "y": -0.20057550072669983,
                    "z": 0.34178924560546875
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.427858352661133,
                "transform": {
                    "location": {
                        "x": -1149.7904052734375,
                        "y": 3098.188720703125,
                        "z": 353.3355712890625
                    },
                    "rotation": {
                        "roll": 0.0032126393634825945,
                        "pitch": 2.0050156116485596,
                        "yaw": -1.179473876953125
                    }
                },
                "velocity": {
                    "x": 9.419648170471191,
                    "y": -0.191679909825325,
                    "z": 0.34350141882896423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.111578941345215,
                "transform": {
                    "location": {
                        "x": -1145.5106201171875,
                        "y": 3101.5986328125,
                        "z": 353.4876403808594
                    },
                    "rotation": {
                        "roll": 0.0023575087543576956,
                        "pitch": 2.2050719261169434,
                        "yaw": -1.2308655977249146
                    }
                },
                "velocity": {
                    "x": 8.104316711425781,
                    "y": -0.17401185631752014,
                    "z": 0.29577934741973877
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.438335418701172,
                "transform": {
                    "location": {
                        "x": -1154.5203857421875,
                        "y": 3105.285888671875,
                        "z": 353.1551513671875
                    },
                    "rotation": {
                        "roll": 0.017006734386086464,
                        "pitch": 2.387465238571167,
                        "yaw": -1.0315245389938354
                    }
                },
                "velocity": {
                    "x": 9.430503845214844,
                    "y": -0.17171724140644073,
                    "z": 0.3439147174358368
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.077385902404785,
                "transform": {
                    "location": {
                        "x": -1127.4835205078125,
                        "y": 3094.19873046875,
                        "z": 354.1466979980469
                    },
                    "rotation": {
                        "roll": 0.0014005079865455627,
                        "pitch": 2.2654507160186768,
                        "yaw": -1.277557134628296
                    }
                },
                "velocity": {
                    "x": 10.068215370178223,
                    "y": -0.2241840362548828,
                    "z": 0.36672720313072205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.064273834228516,
                "transform": {
                    "location": {
                        "x": -1128.12890625,
                        "y": 3097.71337890625,
                        "z": 354.1095886230469
                    },
                    "rotation": {
                        "roll": -0.000762942130677402,
                        "pitch": 2.1637423038482666,
                        "yaw": -1.2744749784469604
                    }
                },
                "velocity": {
                    "x": 10.055075645446777,
                    "y": -0.22364388406276703,
                    "z": 0.36747977137565613
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.908935546875,
                "transform": {
                    "location": {
                        "x": -1127.852294921875,
                        "y": 3101.207763671875,
                        "z": 354.16143798828125
                    },
                    "rotation": {
                        "roll": 0.0014663173351436853,
                        "pitch": 2.211143732070923,
                        "yaw": -1.2814942598342896
                    }
                },
                "velocity": {
                    "x": 9.899898529052734,
                    "y": -0.21992939710617065,
                    "z": 0.361438512802124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.695721626281738,
                "transform": {
                    "location": {
                        "x": -1128.0625,
                        "y": 3104.731689453125,
                        "z": 354.12005615234375
                    },
                    "rotation": {
                        "roll": -0.024627685546875,
                        "pitch": 2.375246047973633,
                        "yaw": -0.8416747450828552
                    }
                },
                "velocity": {
                    "x": 9.688397407531738,
                    "y": -0.1277092546224594,
                    "z": 0.3544969856739044
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372465133666992,
                "transform": {
                    "location": {
                        "x": -1116.868408203125,
                        "y": 3076.356689453125,
                        "z": 354.54803466796875
                    },
                    "rotation": {
                        "roll": 1.2621653695532586e-05,
                        "pitch": -2.1007065773010254,
                        "yaw": 178.71963500976562
                    }
                },
                "velocity": {
                    "x": -16.357440948486328,
                    "y": 0.3653184175491333,
                    "z": -0.5985535979270935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.923311233520508,
                "transform": {
                    "location": {
                        "x": -1185.43603515625,
                        "y": 3077.889404296875,
                        "z": 351.8779296875
                    },
                    "rotation": {
                        "roll": 0.0006069876253604889,
                        "pitch": -2.7420339584350586,
                        "yaw": 178.7136993408203
                    }
                },
                "velocity": {
                    "x": -15.900548934936523,
                    "y": 0.3568722903728485,
                    "z": -0.7726650238037109
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.7568359375,
                        "y": 3080.954345703125,
                        "z": 346.13116455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1286.76416015625,
                        "y": 3080.155029296875,
                        "z": 346.9280700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4842586517334,
                "transform": {
                    "location": {
                        "x": -1213.0635986328125,
                        "y": 3078.505859375,
                        "z": 350.4230041503906
                    },
                    "rotation": {
                        "roll": 0.0007729452918283641,
                        "pitch": -3.1538054943084717,
                        "yaw": 178.720703125
                    }
                },
                "velocity": {
                    "x": -16.455936431884766,
                    "y": 0.3695225119590759,
                    "z": -0.89242023229599
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8987075686454773,
        "expert_target_speed": 20.0,
        "target_point": [
            41.210986535821874,
            0.8116544213168329
        ],
        "target_point_next": [
            92.0680077451059,
            4.628239134903206
        ]
    },
    "365": {
        "acceleration": [
            -0.20145416259765625,
            0.9741616249084473,
            -0.000782012939453125
        ],
        "angular_velocity": [
            0.15709330141544342,
            -0.2302480936050415,
            -3.38399600982666
        ],
        "forward_vector": [
            -0.9930659532546997,
            0.11237214505672455,
            -0.03453104570508003
        ],
        "right_vector": [
            -0.11209914833307266,
            -0.9936491847038269,
            -0.00974896177649498
        ],
        "location": [
            -1151.923828125,
            3075.20263671875,
            353.2674865722656
        ],
        "rotation": [
            0.5589165687561035,
            -1.9788764715194702,
            173.54405212402344
        ],
        "velocity": [
            -16.771530151367188,
            1.868919014930725,
            -0.6126455068588257
        ],
        "speed": 16.87533946036607,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.167014122009277,
                "transform": {
                    "location": {
                        "x": -1201.6114501953125,
                        "y": 3106.28173828125,
                        "z": 351.0524597167969
                    },
                    "rotation": {
                        "roll": 0.024367548525333405,
                        "pitch": 3.108173131942749,
                        "yaw": -0.7822265028953552
                    }
                },
                "velocity": {
                    "x": 6.15675687789917,
                    "y": -0.07610506564378738,
                    "z": 0.34729698300361633
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.290618896484375,
                "transform": {
                    "location": {
                        "x": -1201.7890625,
                        "y": 3102.794189453125,
                        "z": 351.0115051269531
                    },
                    "rotation": {
                        "roll": 0.024134961888194084,
                        "pitch": 3.044344902038574,
                        "yaw": -0.7512205839157104
                    }
                },
                "velocity": {
                    "x": 6.28104305267334,
                    "y": -0.08348247408866882,
                    "z": 0.33677375316619873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3400373458862305,
                "transform": {
                    "location": {
                        "x": -1202.0050048828125,
                        "y": 3099.30078125,
                        "z": 351.010498046875
                    },
                    "rotation": {
                        "roll": 0.025289170444011688,
                        "pitch": 3.1453497409820557,
                        "yaw": -0.771636962890625
                    }
                },
                "velocity": {
                    "x": 6.329998016357422,
                    "y": -0.08828215301036835,
                    "z": 0.34555572271347046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.663781642913818,
                "transform": {
                    "location": {
                        "x": -1202.14208984375,
                        "y": 3095.80615234375,
                        "z": 351.0014343261719
                    },
                    "rotation": {
                        "roll": 0.031509436666965485,
                        "pitch": 2.93924880027771,
                        "yaw": -0.7599791288375854
                    }
                },
                "velocity": {
                    "x": 5.655172824859619,
                    "y": -0.07901020348072052,
                    "z": 0.3019949197769165
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6561129093170166,
                "transform": {
                    "location": {
                        "x": -1170.406494140625,
                        "y": 3095.072021484375,
                        "z": 352.5510559082031
                    },
                    "rotation": {
                        "roll": 0.01918810047209263,
                        "pitch": 2.2901487350463867,
                        "yaw": -0.9088135957717896
                    }
                },
                "velocity": {
                    "x": 3.6527886390686035,
                    "y": -0.02841845154762268,
                    "z": 0.1532599776983261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.435783863067627,
                "transform": {
                    "location": {
                        "x": -1168.3133544921875,
                        "y": 3102.04736328125,
                        "z": 352.6151428222656
                    },
                    "rotation": {
                        "roll": 0.026485782116651535,
                        "pitch": 2.4461090564727783,
                        "yaw": -0.7077025771141052
                    }
                },
                "velocity": {
                    "x": 5.4306793212890625,
                    "y": -0.08257696032524109,
                    "z": 0.22057385742664337
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1081.8675537109375,
                        "y": 3075.574951171875,
                        "z": 355.6808166503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.318307876586914,
                "transform": {
                    "location": {
                        "x": -1145.0782470703125,
                        "y": 3094.588134765625,
                        "z": 353.4998779296875
                    },
                    "rotation": {
                        "roll": 0.008635965175926685,
                        "pitch": 2.5432207584381104,
                        "yaw": -1.2445068359375
                    }
                },
                "velocity": {
                    "x": 10.308981895446777,
                    "y": -0.2252371907234192,
                    "z": 0.37634825706481934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.219149589538574,
                "transform": {
                    "location": {
                        "x": -1147.33251953125,
                        "y": 3098.13720703125,
                        "z": 353.42523193359375
                    },
                    "rotation": {
                        "roll": 0.001769238617271185,
                        "pitch": 1.999052882194519,
                        "yaw": -1.1949156522750854
                    }
                },
                "velocity": {
                    "x": 10.210012435913086,
                    "y": -0.2191077172756195,
                    "z": 0.37235724925994873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.207307815551758,
                "transform": {
                    "location": {
                        "x": -1143.3433837890625,
                        "y": 3101.5517578125,
                        "z": 353.5652770996094
                    },
                    "rotation": {
                        "roll": 0.0030404592398554087,
                        "pitch": 2.3890838623046875,
                        "yaw": -1.22979736328125
                    }
                },
                "velocity": {
                    "x": 9.19903564453125,
                    "y": -0.20029166340827942,
                    "z": 0.33488914370536804
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.405131340026855,
                "transform": {
                    "location": {
                        "x": -1152.045166015625,
                        "y": 3105.23876953125,
                        "z": 353.2458801269531
                    },
                    "rotation": {
                        "roll": 0.017951346933841705,
                        "pitch": 2.2953600883483887,
                        "yaw": -1.1424559354782104
                    }
                },
                "velocity": {
                    "x": 10.39614486694336,
                    "y": -0.20949122309684753,
                    "z": 0.37821975350379944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.700577735900879,
                "transform": {
                    "location": {
                        "x": -1124.8565673828125,
                        "y": 3094.139892578125,
                        "z": 354.24237060546875
                    },
                    "rotation": {
                        "roll": -0.0003662122180685401,
                        "pitch": 2.2078380584716797,
                        "yaw": -1.2731019258499146
                    }
                },
                "velocity": {
                    "x": 10.690801620483398,
                    "y": -0.23723554611206055,
                    "z": 0.3909461200237274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.166287422180176,
                "transform": {
                    "location": {
                        "x": -1125.47119140625,
                        "y": 3097.654052734375,
                        "z": 354.20648193359375
                    },
                    "rotation": {
                        "roll": 0.00033556882408447564,
                        "pitch": 2.1712419986724854,
                        "yaw": -1.2809141874313354
                    }
                },
                "velocity": {
                    "x": 11.15606689453125,
                    "y": -0.24951958656311035,
                    "z": 0.40728431940078735
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.186871528625488,
                "transform": {
                    "location": {
                        "x": -1125.2506103515625,
                        "y": 3101.14990234375,
                        "z": 354.25604248046875
                    },
                    "rotation": {
                        "roll": 0.0008804135723039508,
                        "pitch": 2.2380547523498535,
                        "yaw": -1.2823486328125
                    }
                },
                "velocity": {
                    "x": 11.176698684692383,
                    "y": -0.24771785736083984,
                    "z": 0.40761038661003113
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.483636856079102,
                "transform": {
                    "location": {
                        "x": -1125.566650390625,
                        "y": 3104.702392578125,
                        "z": 354.2118225097656
                    },
                    "rotation": {
                        "roll": -0.03533935546875,
                        "pitch": 2.3098058700561523,
                        "yaw": -0.5418700575828552
                    }
                },
                "velocity": {
                    "x": 10.476632118225098,
                    "y": -0.013395571149885654,
                    "z": 0.382944792509079
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372371673583984,
                "transform": {
                    "location": {
                        "x": -1120.957763671875,
                        "y": 3076.447998046875,
                        "z": 354.39874267578125
                    },
                    "rotation": {
                        "roll": 2.19860903598601e-05,
                        "pitch": -2.09951114654541,
                        "yaw": 178.71888732910156
                    }
                },
                "velocity": {
                    "x": -16.35744285583496,
                    "y": 0.3656831383705139,
                    "z": -0.5957015752792358
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.924452781677246,
                "transform": {
                    "location": {
                        "x": -1189.4105224609375,
                        "y": 3077.97802734375,
                        "z": 351.68316650390625
                    },
                    "rotation": {
                        "roll": -0.0009155259467661381,
                        "pitch": -2.839958429336548,
                        "yaw": 178.73033142089844
                    }
                },
                "velocity": {
                    "x": -15.901102066040039,
                    "y": 0.3509387969970703,
                    "z": -0.7874097228050232
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1315.000732421875,
                        "y": 3081.145751953125,
                        "z": 346.0196838378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1291.0089111328125,
                        "y": 3080.26171875,
                        "z": 346.77484130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.483993530273438,
                "transform": {
                    "location": {
                        "x": -1217.1773681640625,
                        "y": 3078.59765625,
                        "z": 350.1999816894531
                    },
                    "rotation": {
                        "roll": 5.8792720665223897e-05,
                        "pitch": -3.155055522918701,
                        "yaw": 178.7213592529297
                    }
                },
                "velocity": {
                    "x": -16.455718994140625,
                    "y": 0.36731472611427307,
                    "z": -0.8924286961555481
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.786719799041748,
        "expert_target_speed": 20.0,
        "target_point": [
            37.004384575046195,
            1.4074470348937864
        ],
        "target_point_next": [
            87.79644676502193,
            6.0084625366264515
        ]
    },
    "370": {
        "acceleration": [
            -2.3664093017578125,
            0.5406999588012695,
            -0.07927060127258301
        ],
        "angular_velocity": [
            -0.5128633379936218,
            0.408906489610672,
            -0.7625622749328613
        ],
        "forward_vector": [
            -0.9920050501823425,
            0.12182372808456421,
            -0.03293943405151367
        ],
        "right_vector": [
            -0.12159857898950577,
            -0.9925406575202942,
            -0.008761371485888958
        ],
        "location": [
            -1156.192138671875,
            3075.69873046875,
            353.1112060546875
        ],
        "rotation": [
            0.5022686123847961,
            -1.8876320123672485,
            172.99880981445312
        ],
        "velocity": [
            -17.395069122314453,
            2.0914762020111084,
            -0.6351622343063354
        ],
        "speed": 17.52035109447515,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 37.303741455078125,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1193.385009765625,
                3078.066162109375,
                351.4818420410156
            ],
            "velocity": [
                -15.901756286621094,
                0.3532850444316864,
                -0.8240649700164795
            ],
            "speed_kmh": 57.33724717231296,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.30810546875,
                        "y": 3074.6689453125,
                        "z": 356.4871520996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.175543308258057,
                "transform": {
                    "location": {
                        "x": -1200.1356201171875,
                        "y": 3106.2626953125,
                        "z": 351.1349182128906
                    },
                    "rotation": {
                        "roll": 0.03207104653120041,
                        "pitch": 3.0062801837921143,
                        "yaw": -0.67138671875
                    }
                },
                "velocity": {
                    "x": 5.1675286293029785,
                    "y": -0.05977416783571243,
                    "z": 0.28164803981781006
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.1017842292785645,
                "transform": {
                    "location": {
                        "x": -1200.3917236328125,
                        "y": 3102.77587890625,
                        "z": 351.0877685546875
                    },
                    "rotation": {
                        "roll": 0.028820615261793137,
                        "pitch": 2.7630913257598877,
                        "yaw": -0.7778014540672302
                    }
                },
                "velocity": {
                    "x": 5.09389591217041,
                    "y": -0.06806574761867523,
                    "z": 0.275310754776001
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.864346027374268,
                "transform": {
                    "location": {
                        "x": -1200.4627685546875,
                        "y": 3099.279541015625,
                        "z": 351.0943298339844
                    },
                    "rotation": {
                        "roll": 0.025699231773614883,
                        "pitch": 3.124934434890747,
                        "yaw": -0.79241943359375
                    }
                },
                "velocity": {
                    "x": 5.8551812171936035,
                    "y": -0.08270525932312012,
                    "z": 0.3171277344226837
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.237791538238525,
                "transform": {
                    "location": {
                        "x": -1200.83837890625,
                        "y": 3095.787353515625,
                        "z": 351.0716857910156
                    },
                    "rotation": {
                        "roll": 0.032485879957675934,
                        "pitch": 2.845695734024048,
                        "yaw": -0.7643737196922302
                    }
                },
                "velocity": {
                    "x": 5.229626178741455,
                    "y": -0.0748213455080986,
                    "z": 0.28261154890060425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.731418609619141,
                "transform": {
                    "location": {
                        "x": -1169.351318359375,
                        "y": 3095.0625,
                        "z": 352.5949401855469
                    },
                    "rotation": {
                        "roll": 0.02455325610935688,
                        "pitch": 2.2807776927948,
                        "yaw": -0.7198792099952698
                    }
                },
                "velocity": {
                    "x": 4.727380752563477,
                    "y": -0.0360669307410717,
                    "z": 0.19206638634204865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.250694274902344,
                "transform": {
                    "location": {
                        "x": -1166.80322265625,
                        "y": 3102.02490234375,
                        "z": 352.67669677734375
                    },
                    "rotation": {
                        "roll": 0.02157050557434559,
                        "pitch": 2.4117534160614014,
                        "yaw": -0.77099609375
                    }
                },
                "velocity": {
                    "x": 7.243973255157471,
                    "y": -0.10964575409889221,
                    "z": 0.29222971200942993
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.9581298828125,
                        "y": 3075.666259765625,
                        "z": 355.57080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.750630378723145,
                "transform": {
                    "location": {
                        "x": -1142.45556640625,
                        "y": 3094.53076171875,
                        "z": 353.5960388183594
                    },
                    "rotation": {
                        "roll": 0.005783642642199993,
                        "pitch": 2.408987045288086,
                        "yaw": -1.2509459257125854
                    }
                },
                "velocity": {
                    "x": 10.740923881530762,
                    "y": -0.23582325875759125,
                    "z": 0.3911488354206085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.976547241210938,
                "transform": {
                    "location": {
                        "x": -1144.681640625,
                        "y": 3098.079833984375,
                        "z": 353.5218200683594
                    },
                    "rotation": {
                        "roll": 0.0006925390916876495,
                        "pitch": 2.000746726989746,
                        "yaw": -1.247161865234375
                    }
                },
                "velocity": {
                    "x": 10.966656684875488,
                    "y": -0.23882432281970978,
                    "z": 0.3999873399734497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.90554428100586,
                "transform": {
                    "location": {
                        "x": -1140.9603271484375,
                        "y": 3101.5,
                        "z": 353.65301513671875
                    },
                    "rotation": {
                        "roll": 0.002925666980445385,
                        "pitch": 2.2816245555877686,
                        "yaw": -1.2490234375
                    }
                },
                "velocity": {
                    "x": 9.896597862243652,
                    "y": -0.21742044389247894,
                    "z": 0.3603935241699219
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.254217147827148,
                "transform": {
                    "location": {
                        "x": -1149.3333740234375,
                        "y": 3105.183349609375,
                        "z": 353.3446044921875
                    },
                    "rotation": {
                        "roll": 0.009388984180986881,
                        "pitch": 2.3036723136901855,
                        "yaw": -1.205322265625
                    }
                },
                "velocity": {
                    "x": 11.244321823120117,
                    "y": -0.2342786192893982,
                    "z": 0.4095616936683655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.072691917419434,
                "transform": {
                    "location": {
                        "x": -1121.9813232421875,
                        "y": 3094.075927734375,
                        "z": 354.34735107421875
                    },
                    "rotation": {
                        "roll": -0.0007019044714979827,
                        "pitch": 2.2809484004974365,
                        "yaw": -1.2709654569625854
                    }
                },
                "velocity": {
                    "x": 12.061713218688965,
                    "y": -0.2680997848510742,
                    "z": 0.4394221305847168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.8512601852417,
                "transform": {
                    "location": {
                        "x": -1122.58837890625,
                        "y": 3097.58984375,
                        "z": 354.31182861328125
                    },
                    "rotation": {
                        "roll": -3.052035390282981e-05,
                        "pitch": 2.140451431274414,
                        "yaw": -1.2756043672561646
                    }
                },
                "velocity": {
                    "x": 11.840449333190918,
                    "y": -0.26368215680122375,
                    "z": 0.43195411562919617
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.253392219543457,
                "transform": {
                    "location": {
                        "x": -1122.310546875,
                        "y": 3101.084716796875,
                        "z": 354.3634033203125
                    },
                    "rotation": {
                        "roll": -0.00015258857456501573,
                        "pitch": 2.2241008281707764,
                        "yaw": -1.273956298828125
                    }
                },
                "velocity": {
                    "x": 12.242188453674316,
                    "y": -0.274105966091156,
                    "z": 0.44644224643707275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.350519180297852,
                "transform": {
                    "location": {
                        "x": -1122.8319091796875,
                        "y": 3104.72119140625,
                        "z": 354.3128967285156
                    },
                    "rotation": {
                        "roll": -0.160675048828125,
                        "pitch": 2.358150005340576,
                        "yaw": 0.8455839157104492
                    }
                },
                "velocity": {
                    "x": 11.340903282165527,
                    "y": 0.20847946405410767,
                    "z": 0.4180248975753784
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372377395629883,
                "transform": {
                    "location": {
                        "x": -1125.047119140625,
                        "y": 3076.53955078125,
                        "z": 354.2496337890625
                    },
                    "rotation": {
                        "roll": -3.051786916330457e-05,
                        "pitch": -2.0988693237304688,
                        "yaw": 178.71826171875
                    }
                },
                "velocity": {
                    "x": -16.357419967651367,
                    "y": 0.36589738726615906,
                    "z": -0.5963849425315857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.927013397216797,
                "transform": {
                    "location": {
                        "x": -1193.385009765625,
                        "y": 3078.066162109375,
                        "z": 351.4818420410156
                    },
                    "rotation": {
                        "roll": 0.00018748934962786734,
                        "pitch": -2.97564697265625,
                        "yaw": 178.72732543945312
                    }
                },
                "velocity": {
                    "x": -15.901756286621094,
                    "y": 0.3532850444316864,
                    "z": -0.8240649700164795
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1319.2445068359375,
                        "y": 3081.354248046875,
                        "z": 345.9222717285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.25390625,
                        "y": 3080.382080078125,
                        "z": 346.62811279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.481595993041992,
                "transform": {
                    "location": {
                        "x": -1221.2921142578125,
                        "y": 3078.689697265625,
                        "z": 349.9801025390625
                    },
                    "rotation": {
                        "roll": -0.0007934547611512244,
                        "pitch": -3.057581901550293,
                        "yaw": 178.71932983398438
                    }
                },
                "velocity": {
                    "x": -16.454689025878906,
                    "y": 0.36632660031318665,
                    "z": -0.8671802878379822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6142510175704956,
        "expert_target_speed": 17.881574684710536,
        "target_point": [
            32.692362388057624,
            1.7316531755426752
        ],
        "target_point_next": [
            83.43834105800674,
            6.815802463930741
        ]
    },
    "375": {
        "acceleration": [
            -1.9597625732421875,
            -0.9179115295410156,
            -0.18359661102294922
        ],
        "angular_velocity": [
            -1.6286439895629883,
            -0.08062015473842621,
            4.523437023162842
        ],
        "forward_vector": [
            -0.993012011051178,
            0.1130247712135315,
            -0.033949289470911026
        ],
        "right_vector": [
            -0.1129647046327591,
            -0.9935922026634216,
            -0.0036885410081595182
        ],
        "location": [
            -1160.6082763671875,
            3076.218017578125,
            352.9478454589844
        ],
        "rotation": [
            0.2114602029323578,
            -1.9455246925354004,
            173.50653076171875
        ],
        "velocity": [
            -17.90554428100586,
            2.016523599624634,
            -0.6729764342308044
        ],
        "speed": 18.018737009760276,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 36.84050750732422,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1197.3597412109375,
                3078.154541015625,
                351.2737121582031
            ],
            "velocity": [
                -15.90121078491211,
                0.35541728138923645,
                -0.8507077693939209
            ],
            "speed_kmh": 57.34050002698033,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.3985595703125,
                        "y": 3074.760009765625,
                        "z": 356.4065246582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.043328762054443,
                "transform": {
                    "location": {
                        "x": -1198.871826171875,
                        "y": 3106.247802734375,
                        "z": 351.203125
                    },
                    "rotation": {
                        "roll": 0.03593430295586586,
                        "pitch": 3.0526845455169678,
                        "yaw": -0.7344359755516052
                    }
                },
                "velocity": {
                    "x": 5.035375118255615,
                    "y": -0.080358125269413,
                    "z": 0.27148526906967163
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.646498680114746,
                "transform": {
                    "location": {
                        "x": -1199.042236328125,
                        "y": 3102.75732421875,
                        "z": 351.1593322753906
                    },
                    "rotation": {
                        "roll": 0.03107292763888836,
                        "pitch": 3.1267988681793213,
                        "yaw": -0.7495726943016052
                    }
                },
                "velocity": {
                    "x": 5.637808322906494,
                    "y": -0.07626701891422272,
                    "z": 0.3037177324295044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.77826452255249,
                "transform": {
                    "location": {
                        "x": -1199.038818359375,
                        "y": 3099.259033203125,
                        "z": 351.1717224121094
                    },
                    "rotation": {
                        "roll": 0.02084200456738472,
                        "pitch": 3.0901002883911133,
                        "yaw": -0.8227538466453552
                    }
                },
                "velocity": {
                    "x": 5.769000053405762,
                    "y": -0.10112908482551575,
                    "z": 0.31105104088783264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.958522796630859,
                "transform": {
                    "location": {
                        "x": -1199.4737548828125,
                        "y": 3095.76806640625,
                        "z": 351.1443786621094
                    },
                    "rotation": {
                        "roll": 0.029616862535476685,
                        "pitch": 3.167677640914917,
                        "yaw": -0.8036192655563354
                    }
                },
                "velocity": {
                    "x": 5.949275493621826,
                    "y": -0.08628550171852112,
                    "z": 0.3204187750816345
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.290089130401611,
                "transform": {
                    "location": {
                        "x": -1168.07275390625,
                        "y": 3095.043701171875,
                        "z": 352.6471862792969
                    },
                    "rotation": {
                        "roll": 0.015865446999669075,
                        "pitch": 2.266550302505493,
                        "yaw": -0.8038939833641052
                    }
                },
                "velocity": {
                    "x": 5.28518009185791,
                    "y": -0.08023026585578918,
                    "z": 0.21324843168258667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.571640968322754,
                "transform": {
                    "location": {
                        "x": -1164.8118896484375,
                        "y": 3101.99560546875,
                        "z": 352.7562561035156
                    },
                    "rotation": {
                        "roll": 0.017260150983929634,
                        "pitch": 2.396467447280884,
                        "yaw": -0.8505858778953552
                    }
                },
                "velocity": {
                    "x": 8.563830375671387,
                    "y": -0.13065429031848907,
                    "z": 0.3417254686355591
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.04833984375,
                        "y": 3075.75732421875,
                        "z": 355.4547119140625
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.606217384338379,
                "transform": {
                    "location": {
                        "x": -1139.6619873046875,
                        "y": 3094.468994140625,
                        "z": 353.69769287109375
                    },
                    "rotation": {
                        "roll": 0.0042817918583750725,
                        "pitch": 2.4671871662139893,
                        "yaw": -1.269195556640625
                    }
                },
                "velocity": {
                    "x": 11.595654487609863,
                    "y": -0.25678738951683044,
                    "z": 0.42326483130455017
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.729326248168945,
                "transform": {
                    "location": {
                        "x": -1141.841796875,
                        "y": 3098.01806640625,
                        "z": 353.6253967285156
                    },
                    "rotation": {
                        "roll": 0.0004043819790240377,
                        "pitch": 2.0022151470184326,
                        "yaw": -1.249359130859375
                    }
                },
                "velocity": {
                    "x": 11.718663215637207,
                    "y": -0.25930002331733704,
                    "z": 0.42752668261528015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.854036331176758,
                "transform": {
                    "location": {
                        "x": -1138.35498046875,
                        "y": 3101.4423828125,
                        "z": 353.74774169921875
                    },
                    "rotation": {
                        "roll": 0.0020016664639115334,
                        "pitch": 2.312565326690674,
                        "yaw": -1.2665098905563354
                    }
                },
                "velocity": {
                    "x": 10.844186782836914,
                    "y": -0.23940099775791168,
                    "z": 0.3954755365848541
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.776603698730469,
                "transform": {
                    "location": {
                        "x": -1146.438232421875,
                        "y": 3105.1220703125,
                        "z": 353.4505310058594
                    },
                    "rotation": {
                        "roll": 0.0063113062642514706,
                        "pitch": 2.2554445266723633,
                        "yaw": -1.238861083984375
                    }
                },
                "velocity": {
                    "x": 11.76601791381836,
                    "y": -0.25442904233932495,
                    "z": 0.42951545119285583
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.967141151428223,
                "transform": {
                    "location": {
                        "x": -1118.8472900390625,
                        "y": 3094.005859375,
                        "z": 354.46160888671875
                    },
                    "rotation": {
                        "roll": -0.0007324204198084772,
                        "pitch": 2.256728410720825,
                        "yaw": -1.2822569608688354
                    }
                },
                "velocity": {
                    "x": 12.955313682556152,
                    "y": -0.28908276557922363,
                    "z": 0.47227346897125244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.106399536132812,
                "transform": {
                    "location": {
                        "x": -1119.444580078125,
                        "y": 3097.51953125,
                        "z": 354.4262390136719
                    },
                    "rotation": {
                        "roll": 0.0011998823611065745,
                        "pitch": 2.170428991317749,
                        "yaw": -1.2755126953125
                    }
                },
                "velocity": {
                    "x": 13.094426155090332,
                    "y": -0.293409138917923,
                    "z": 0.47710976004600525
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.161870002746582,
                "transform": {
                    "location": {
                        "x": -1119.13134765625,
                        "y": 3101.013671875,
                        "z": 354.4794921875
                    },
                    "rotation": {
                        "roll": -0.001464844448491931,
                        "pitch": 2.205003499984741,
                        "yaw": -1.281585693359375
                    }
                },
                "velocity": {
                    "x": 13.14984130859375,
                    "y": -0.2941124141216278,
                    "z": 0.4795800745487213
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.103445053100586,
                "transform": {
                    "location": {
                        "x": -1119.8990478515625,
                        "y": 3104.795654296875,
                        "z": 354.42138671875
                    },
                    "rotation": {
                        "roll": -0.1547851711511612,
                        "pitch": 2.30025053024292,
                        "yaw": 2.1591880321502686
                    }
                },
                "velocity": {
                    "x": 12.081962585449219,
                    "y": 0.5613919496536255,
                    "z": 0.4521217346191406
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372390747070312,
                "transform": {
                    "location": {
                        "x": -1129.136474609375,
                        "y": 3076.630859375,
                        "z": 354.10052490234375
                    },
                    "rotation": {
                        "roll": 0.0003151104901917279,
                        "pitch": -2.0991151332855225,
                        "yaw": 178.7176513671875
                    }
                },
                "velocity": {
                    "x": -16.357433319091797,
                    "y": 0.3660159707069397,
                    "z": -0.5963118076324463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.92791748046875,
                "transform": {
                    "location": {
                        "x": -1197.3597412109375,
                        "y": 3078.154541015625,
                        "z": 351.2737121582031
                    },
                    "rotation": {
                        "roll": -0.0010681137209758162,
                        "pitch": -3.060819387435913,
                        "yaw": 178.71881103515625
                    }
                },
                "velocity": {
                    "x": -15.90121078491211,
                    "y": 0.35541728138923645,
                    "z": -0.8507077693939209
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.48779296875,
                        "y": 3081.576904296875,
                        "z": 345.83782958984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.49853515625,
                        "y": 3080.51904296875,
                        "z": 346.4867248535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.48085594177246,
                "transform": {
                    "location": {
                        "x": -1225.40576171875,
                        "y": 3078.781494140625,
                        "z": 349.76422119140625
                    },
                    "rotation": {
                        "roll": -0.001251217327080667,
                        "pitch": -3.0562431812286377,
                        "yaw": 178.71620178222656
                    }
                },
                "velocity": {
                    "x": -16.454099655151367,
                    "y": 0.36651164293289185,
                    "z": -0.86420738697052
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4829389452934265,
        "expert_target_speed": 18.285956820642628,
        "target_point": [
            28.259890469052976,
            1.4584219754434573
        ],
        "target_point_next": [
            79.04892950080611,
            6.092689920718412
        ]
    },
    "380": {
        "acceleration": [
            -2.0032882690429688,
            -1.809227466583252,
            -0.14009714126586914
        ],
        "angular_velocity": [
            -1.6355408430099487,
            -0.8023966550827026,
            7.1544270515441895
        ],
        "forward_vector": [
            -0.9956851005554199,
            0.08541867882013321,
            -0.03626052290201187
        ],
        "right_vector": [
            -0.08561040461063385,
            -0.9963215589523315,
            0.0037653532344847918
        ],
        "location": [
            -1165.147216796875,
            3076.68017578125,
            352.77398681640625
        ],
        "rotation": [
            -0.2158813178539276,
            -2.0780303478240967,
            175.09666442871094
        ],
        "velocity": [
            -18.400821685791016,
            1.642848014831543,
            -0.7218044400215149
        ],
        "speed": 18.474013865755133,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 36.2615852355957,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1201.33447265625,
                3078.24365234375,
                351.0591735839844
            ],
            "velocity": [
                -15.900896072387695,
                0.3564005494117737,
                -0.8685247898101807
            ],
            "speed_kmh": 57.342909668663076,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.5882568359375,
                        "y": 3107.059814453125,
                        "z": 349.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.6663818359375,
                        "y": 3103.561279296875,
                        "z": 349.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.7445068359375,
                        "y": 3100.06201171875,
                        "z": 349.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.82275390625,
                        "y": 3096.562744140625,
                        "z": 349.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1049.5206298828125,
                        "y": 3074.85205078125,
                        "z": 356.3392639160156
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.351344108581543,
                "transform": {
                    "location": {
                        "x": -1197.5657958984375,
                        "y": 3106.226806640625,
                        "z": 351.27288818359375
                    },
                    "rotation": {
                        "roll": 0.026790082454681396,
                        "pitch": 3.1161439418792725,
                        "yaw": -0.8625489473342896
                    }
                },
                "velocity": {
                    "x": 5.342804908752441,
                    "y": -0.0907052531838417,
                    "z": 0.2882530987262726
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.917899131774902,
                "transform": {
                    "location": {
                        "x": -1197.4959716796875,
                        "y": 3102.731689453125,
                        "z": 351.2412109375
                    },
                    "rotation": {
                        "roll": 0.04079604521393776,
                        "pitch": 3.493361473083496,
                        "yaw": -0.9151611924171448
                    }
                },
                "velocity": {
                    "x": 6.90685510635376,
                    "y": -0.12173425406217575,
                    "z": 0.3712943196296692
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.490724086761475,
                "transform": {
                    "location": {
                        "x": -1197.50830078125,
                        "y": 3099.232177734375,
                        "z": 351.2547912597656
                    },
                    "rotation": {
                        "roll": 0.015079998411238194,
                        "pitch": 3.0071682929992676,
                        "yaw": -0.9492186307907104
                    }
                },
                "velocity": {
                    "x": 6.480198383331299,
                    "y": -0.11932149529457092,
                    "z": 0.3497065603733063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.384069919586182,
                "transform": {
                    "location": {
                        "x": -1197.7724609375,
                        "y": 3095.739013671875,
                        "z": 351.234375
                    },
                    "rotation": {
                        "roll": 0.03835946321487427,
                        "pitch": 3.5892982482910156,
                        "yaw": -0.962554931640625
                    }
                },
                "velocity": {
                    "x": 7.372232913970947,
                    "y": -0.13315054774284363,
                    "z": 0.3961549997329712
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.613790512084961,
                "transform": {
                    "location": {
                        "x": -1166.6903076171875,
                        "y": 3095.023681640625,
                        "z": 352.70355224609375
                    },
                    "rotation": {
                        "roll": 0.014200802892446518,
                        "pitch": 2.220726490020752,
                        "yaw": -0.8921204805374146
                    }
                },
                "velocity": {
                    "x": 5.608609676361084,
                    "y": -0.08572082966566086,
                    "z": 0.22536775469779968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.793278694152832,
                "transform": {
                    "location": {
                        "x": -1162.5106201171875,
                        "y": 3101.957763671875,
                        "z": 352.8465576171875
                    },
                    "rotation": {
                        "roll": 0.01616067625582218,
                        "pitch": 2.3062405586242676,
                        "yaw": -0.97869873046875
                    }
                },
                "velocity": {
                    "x": 9.784408569335938,
                    "y": -0.18304507434368134,
                    "z": 0.3743635416030884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1094.169677734375,
                        "y": 3075.849609375,
                        "z": 355.3316345214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.499486923217773,
                "transform": {
                    "location": {
                        "x": -1136.64697265625,
                        "y": 3094.40234375,
                        "z": 353.8074645996094
                    },
                    "rotation": {
                        "roll": 0.0015341471880674362,
                        "pitch": 2.5155789852142334,
                        "yaw": -1.2693177461624146
                    }
                },
                "velocity": {
                    "x": 12.488134384155273,
                    "y": -0.27680379152297974,
                    "z": 0.45501944422721863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.460516929626465,
                "transform": {
                    "location": {
                        "x": -1138.816650390625,
                        "y": 3097.951416015625,
                        "z": 353.7357482910156
                    },
                    "rotation": {
                        "roll": -0.00042724653030745685,
                        "pitch": 2.0041277408599854,
                        "yaw": -1.2675172090530396
                    }
                },
                "velocity": {
                    "x": 12.449220657348633,
                    "y": -0.2745208740234375,
                    "z": 0.4538979232311249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.676664352416992,
                "transform": {
                    "location": {
                        "x": -1135.5360107421875,
                        "y": 3101.3798828125,
                        "z": 353.8506164550781
                    },
                    "rotation": {
                        "roll": 0.002118221949785948,
                        "pitch": 2.3005168437957764,
                        "yaw": -1.2753907442092896
                    }
                },
                "velocity": {
                    "x": 11.666000366210938,
                    "y": -0.2612777650356293,
                    "z": 0.4250295162200928
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.852213859558105,
                "transform": {
                    "location": {
                        "x": -1143.4932861328125,
                        "y": 3105.057861328125,
                        "z": 353.55908203125
                    },
                    "rotation": {
                        "roll": 0.0037692436017096043,
                        "pitch": 2.119148015975952,
                        "yaw": -1.2653807401657104
                    }
                },
                "velocity": {
                    "x": 11.841466903686523,
                    "y": -0.2601796090602875,
                    "z": 0.43237799406051636
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.799760818481445,
                "transform": {
                    "location": {
                        "x": -1115.4998779296875,
                        "y": 3093.930908203125,
                        "z": 354.5836181640625
                    },
                    "rotation": {
                        "roll": 7.248284964589402e-05,
                        "pitch": 2.242385149002075,
                        "yaw": -1.2810362577438354
                    }
                },
                "velocity": {
                    "x": 13.787092208862305,
                    "y": -0.3095776438713074,
                    "z": 0.5036363005638123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.929533958435059,
                "transform": {
                    "location": {
                        "x": -1116.0618896484375,
                        "y": 3097.444091796875,
                        "z": 354.5497131347656
                    },
                    "rotation": {
                        "roll": -0.0002441420510876924,
                        "pitch": 2.156454563140869,
                        "yaw": -1.2799071073532104
                    }
                },
                "velocity": {
                    "x": 13.916801452636719,
                    "y": -0.3128315806388855,
                    "z": 0.5066215991973877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.057304382324219,
                "transform": {
                    "location": {
                        "x": -1115.7276611328125,
                        "y": 3100.9375,
                        "z": 354.6036682128906
                    },
                    "rotation": {
                        "roll": -0.0009765601716935635,
                        "pitch": 2.198241710662842,
                        "yaw": -1.2827757596969604
                    }
                },
                "velocity": {
                    "x": 14.04446029663086,
                    "y": -0.3144688010215759,
                    "z": 0.5119052529335022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.914759635925293,
                "transform": {
                    "location": {
                        "x": -1116.7747802734375,
                        "y": 3104.971923828125,
                        "z": 354.537841796875
                    },
                    "rotation": {
                        "roll": -0.2029113620519638,
                        "pitch": 2.3661413192749023,
                        "yaw": 4.264798641204834
                    }
                },
                "velocity": {
                    "x": 12.871575355529785,
                    "y": 0.9440488815307617,
                    "z": 0.47151610255241394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372392654418945,
                "transform": {
                    "location": {
                        "x": -1133.225830078125,
                        "y": 3076.722412109375,
                        "z": 353.9513854980469
                    },
                    "rotation": {
                        "roll": -0.00021362172265071422,
                        "pitch": -2.0988078117370605,
                        "yaw": 178.72361755371094
                    }
                },
                "velocity": {
                    "x": -16.357471466064453,
                    "y": 0.3647390604019165,
                    "z": -0.5960983037948608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.92858600616455,
                "transform": {
                    "location": {
                        "x": -1201.33447265625,
                        "y": 3078.24365234375,
                        "z": 351.0591735839844
                    },
                    "rotation": {
                        "roll": -0.00012206952669657767,
                        "pitch": -3.1119091510772705,
                        "yaw": 178.71507263183594
                    }
                },
                "velocity": {
                    "x": -15.900896072387695,
                    "y": 0.3564005494117737,
                    "z": -0.8685247898101807
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5391,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.73046875,
                        "y": 3081.81298828125,
                        "z": 345.7663879394531
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.7421875,
                        "y": 3080.672119140625,
                        "z": 346.3460388183594
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.479272842407227,
                "transform": {
                    "location": {
                        "x": -1229.5196533203125,
                        "y": 3078.873291015625,
                        "z": 349.5495300292969
                    },
                    "rotation": {
                        "roll": -0.0002441385731799528,
                        "pitch": -2.992182731628418,
                        "yaw": 178.72283935546875
                    }
                },
                "velocity": {
                    "x": -16.45328140258789,
                    "y": 0.3670019507408142,
                    "z": -0.8492552638053894
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.42823082208633423,
        "expert_target_speed": 18.648037966225267,
        "target_point": [
            23.72764590501871,
            0.7461710637626537
        ],
        "target_point_next": [
            74.62572452626863,
            3.969293435409176
        ]
    },
    "385": {
        "acceleration": [
            -1.997222900390625,
            -2.179088592529297,
            -0.21186351776123047
        ],
        "angular_velocity": [
            -1.2069181203842163,
            -0.7990812063217163,
            7.352309703826904
        ],
        "forward_vector": [
            -0.9978659152984619,
            0.052967846393585205,
            -0.038183584809303284
        ],
        "right_vector": [
            -0.05337946489453316,
            -0.9985257983207703,
            0.00984155759215355
        ],
        "location": [
            -1169.81103515625,
            3077.028564453125,
            352.5855712890625
        ],
        "rotation": [
            -0.5643003582954407,
            -2.1882901191711426,
            176.96153259277344
        ],
        "velocity": [
            -18.9016056060791,
            1.1186416149139404,
            -0.7847523093223572
        ],
        "speed": 18.93467859643723,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 35.56493377685547,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1205.3092041015625,
                3078.33251953125,
                350.8408203125
            ],
            "velocity": [
                -15.900057792663574,
                0.35353419184684753,
                -0.8772956728935242
            ],
            "speed_kmh": 57.34139757841199,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.50634765625,
                        "y": 3107.013427734375,
                        "z": 349.3228454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.58447265625,
                        "y": 3103.514404296875,
                        "z": 349.3228454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.66259765625,
                        "y": 3100.01513671875,
                        "z": 349.3228454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.74072265625,
                        "y": 3096.51611328125,
                        "z": 349.3228454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.61181640625,
                        "y": 3074.943603515625,
                        "z": 356.2732238769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.621597766876221,
                "transform": {
                    "location": {
                        "x": -1195.9488525390625,
                        "y": 3106.2001953125,
                        "z": 351.3574523925781
                    },
                    "rotation": {
                        "roll": 0.015240631066262722,
                        "pitch": 3.2450637817382812,
                        "yaw": -1.036346197128296
                    }
                },
                "velocity": {
                    "x": 7.6100969314575195,
                    "y": -0.13511087000370026,
                    "z": 0.39613279700279236
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.082388877868652,
                "transform": {
                    "location": {
                        "x": -1195.6033935546875,
                        "y": 3102.698486328125,
                        "z": 351.3411560058594
                    },
                    "rotation": {
                        "roll": 0.029253145679831505,
                        "pitch": 3.5870444774627686,
                        "yaw": -1.0357664823532104
                    }
                },
                "velocity": {
                    "x": 8.069938659667969,
                    "y": -0.1486222743988037,
                    "z": 0.42310354113578796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.81984281539917,
                "transform": {
                    "location": {
                        "x": -1195.77978515625,
                        "y": 3099.201171875,
                        "z": 351.34698486328125
                    },
                    "rotation": {
                        "roll": 0.011753407306969166,
                        "pitch": 2.8978099822998047,
                        "yaw": -1.0406190156936646
                    }
                },
                "velocity": {
                    "x": 7.807947158813477,
                    "y": -0.14478209614753723,
                    "z": 0.40613043308258057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.219286918640137,
                "transform": {
                    "location": {
                        "x": -1195.81640625,
                        "y": 3095.703369140625,
                        "z": 351.3386535644531
                    },
                    "rotation": {
                        "roll": 0.025896893814206123,
                        "pitch": 3.4655284881591797,
                        "yaw": -1.04742431640625
                    }
                },
                "velocity": {
                    "x": 8.206603050231934,
                    "y": -0.1532878428697586,
                    "z": 0.42993736267089844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.282864093780518,
                "transform": {
                    "location": {
                        "x": -1165.0811767578125,
                        "y": 3094.998291015625,
                        "z": 352.7684020996094
                    },
                    "rotation": {
                        "roll": 0.015632377937436104,
                        "pitch": 2.1286282539367676,
                        "yaw": -0.8681642413139343
                    }
                },
                "velocity": {
                    "x": 7.276200771331787,
                    "y": -0.11334341019392014,
                    "z": 0.2901173532009125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.906292915344238,
                "transform": {
                    "location": {
                        "x": -1159.920166015625,
                        "y": 3101.908935546875,
                        "z": 352.9450988769531
                    },
                    "rotation": {
                        "roll": 0.009271311573684216,
                        "pitch": 2.230309247970581,
                        "yaw": -1.1006165742874146
                    }
                },
                "velocity": {
                    "x": 10.896628379821777,
                    "y": -0.2102728635072708,
                    "z": 0.4080520570278168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.259521484375,
                        "y": 3075.941162109375,
                        "z": 355.2032470703125
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.390474319458008,
                "transform": {
                    "location": {
                        "x": -1133.408935546875,
                        "y": 3094.329833984375,
                        "z": 353.9254150390625
                    },
                    "rotation": {
                        "roll": 0.003058092202991247,
                        "pitch": 2.53110408782959,
                        "yaw": -1.2828062772750854
                    }
                },
                "velocity": {
                    "x": 13.378240585327148,
                    "y": -0.2992652654647827,
                    "z": 0.48776236176490784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.163744926452637,
                "transform": {
                    "location": {
                        "x": -1135.6124267578125,
                        "y": 3097.880126953125,
                        "z": 353.8525390625
                    },
                    "rotation": {
                        "roll": -0.0012512229150161147,
                        "pitch": 2.005500555038452,
                        "yaw": -1.2736512422561646
                    }
                },
                "velocity": {
                    "x": 13.151741981506348,
                    "y": -0.2930164933204651,
                    "z": 0.47957098484039307
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.443256378173828,
                "transform": {
                    "location": {
                        "x": -1132.5205078125,
                        "y": 3101.312744140625,
                        "z": 353.960693359375
                    },
                    "rotation": {
                        "roll": 0.00043313452624715865,
                        "pitch": 2.2859480381011963,
                        "yaw": -1.2826231718063354
                    }
                },
                "velocity": {
                    "x": 12.431907653808594,
                    "y": -0.2779097557067871,
                    "z": 0.4528310298919678
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.296512603759766,
                "transform": {
                    "location": {
                        "x": -1140.4837646484375,
                        "y": 3104.990966796875,
                        "z": 353.6683654785156
                    },
                    "rotation": {
                        "roll": 0.0029333813581615686,
                        "pitch": 2.1809544563293457,
                        "yaw": -1.2865904569625854
                    }
                },
                "velocity": {
                    "x": 12.285298347473145,
                    "y": -0.2737492322921753,
                    "z": 0.4480242133140564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.614980697631836,
                "transform": {
                    "location": {
                        "x": -1111.947021484375,
                        "y": 3093.850830078125,
                        "z": 354.71319580078125
                    },
                    "rotation": {
                        "roll": -0.0009460483561269939,
                        "pitch": 2.2368662357330322,
                        "yaw": -1.284759759902954
                    }
                },
                "velocity": {
                    "x": 14.601594924926758,
                    "y": -0.3278775215148926,
                    "z": 0.5325296521186829
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.699222564697266,
                "transform": {
                    "location": {
                        "x": -1112.4822998046875,
                        "y": 3097.364013671875,
                        "z": 354.68023681640625
                    },
                    "rotation": {
                        "roll": 0.0003561277117114514,
                        "pitch": 2.1506967544555664,
                        "yaw": -1.2834471464157104
                    }
                },
                "velocity": {
                    "x": 14.685806274414062,
                    "y": -0.32886382937431335,
                    "z": 0.5348562598228455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.724690437316895,
                "transform": {
                    "location": {
                        "x": -1112.1068115234375,
                        "y": 3100.8564453125,
                        "z": 354.7358093261719
                    },
                    "rotation": {
                        "roll": 0.0002492510830052197,
                        "pitch": 2.183515787124634,
                        "yaw": -1.277526617050171
                    }
                },
                "velocity": {
                    "x": 14.711237907409668,
                    "y": -0.3282402455806732,
                    "z": 0.5368794798851013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.694072723388672,
                "transform": {
                    "location": {
                        "x": -1113.46240234375,
                        "y": 3105.270751953125,
                        "z": 354.65936279296875
                    },
                    "rotation": {
                        "roll": -0.2186279445886612,
                        "pitch": 2.2124621868133545,
                        "yaw": 6.533393383026123
                    }
                },
                "velocity": {
                    "x": 13.594255447387695,
                    "y": 1.5711643695831299,
                    "z": 0.5052480697631836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37236976623535,
                "transform": {
                    "location": {
                        "x": -1137.315185546875,
                        "y": 3076.813720703125,
                        "z": 353.8023376464844
                    },
                    "rotation": {
                        "roll": 5.8814763178816065e-05,
                        "pitch": -2.098841905593872,
                        "yaw": 178.71487426757812
                    }
                },
                "velocity": {
                    "x": -16.357439041137695,
                    "y": 0.36626970767974854,
                    "z": -0.5954020619392395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.928166389465332,
                "transform": {
                    "location": {
                        "x": -1205.3092041015625,
                        "y": 3078.33251953125,
                        "z": 350.8408203125
                    },
                    "rotation": {
                        "roll": -0.0023193343076854944,
                        "pitch": -3.1675615310668945,
                        "yaw": 178.72830200195312
                    }
                },
                "velocity": {
                    "x": -15.900057792663574,
                    "y": 0.35353419184684753,
                    "z": -0.8772956728935242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1307.9854736328125,
                        "y": 3080.83984375,
                        "z": 346.21356201171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.477893829345703,
                "transform": {
                    "location": {
                        "x": -1233.63330078125,
                        "y": 3078.965576171875,
                        "z": 349.3395690917969
                    },
                    "rotation": {
                        "roll": 0.0033501938451081514,
                        "pitch": -2.959623336791992,
                        "yaw": 178.71426391601562
                    }
                },
                "velocity": {
                    "x": -16.45245361328125,
                    "y": 0.3708929121494293,
                    "z": -0.8367623090744019
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.7887036800384521,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4166492819786072,
        "expert_target_speed": 19.006825133775482,
        "target_point": [
            19.063632263213897,
            0.0743140289253752
        ],
        "target_point_next": [
            70.03964084542122,
            1.6393936384893002
        ]
    },
    "390": {
        "acceleration": [
            -1.954803466796875,
            -0.9110844135284424,
            -0.30757784843444824
        ],
        "angular_velocity": [
            0.7294515371322632,
            -0.7256617546081543,
            1.4457852840423584
        ],
        "forward_vector": [
            -0.9986555576324463,
            0.03287883847951889,
            -0.04007505252957344
        ],
        "right_vector": [
            -0.03329940140247345,
            -0.9993966221809387,
            0.009872227907180786
        ],
        "location": [
            -1174.5992431640625,
            3077.26025390625,
            352.38238525390625
        ],
        "rotation": [
            -0.5661010146141052,
            -2.2967464923858643,
            178.1143341064453
        ],
        "velocity": [
            -19.39257049560547,
            0.7679321765899658,
            -0.8463993072509766
        ],
        "speed": 19.40776932712438,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 34.74897003173828,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1209.2841796875,
                3078.4208984375,
                350.6219482421875
            ],
            "velocity": [
                -15.898662567138672,
                0.3541240096092224,
                -0.8667290806770325
            ],
            "speed_kmh": 57.33434804026495,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.18529748916626,
                "transform": {
                    "location": {
                        "x": -1233.7039794921875,
                        "y": 3106.97900390625,
                        "z": 349.2958984375
                    },
                    "rotation": {
                        "roll": 0.023032627999782562,
                        "pitch": 3.1189374923706055,
                        "yaw": -1.086151123046875
                    }
                },
                "velocity": {
                    "x": 6.178797245025635,
                    "y": -0.08243916928768158,
                    "z": 0.27124524116516113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.2088117599487305,
                "transform": {
                    "location": {
                        "x": -1233.851806640625,
                        "y": 3103.485595703125,
                        "z": 349.3113708496094
                    },
                    "rotation": {
                        "roll": -0.0377807579934597,
                        "pitch": 2.392745018005371,
                        "yaw": -0.9227294921875
                    }
                },
                "velocity": {
                    "x": 6.204690456390381,
                    "y": -0.08065376430749893,
                    "z": 0.21131651103496552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.672801494598389,
                "transform": {
                    "location": {
                        "x": -1233.7281494140625,
                        "y": 3099.982177734375,
                        "z": 349.29931640625
                    },
                    "rotation": {
                        "roll": 0.015447374433279037,
                        "pitch": 2.9133827686309814,
                        "yaw": -0.8874205946922302
                    }
                },
                "velocity": {
                    "x": 7.663966655731201,
                    "y": -0.09093326330184937,
                    "z": 0.3566860258579254
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.8093485832214355,
                "transform": {
                    "location": {
                        "x": -1234.0185546875,
                        "y": 3096.48779296875,
                        "z": 349.28765869140625
                    },
                    "rotation": {
                        "roll": -0.0314331017434597,
                        "pitch": 2.6234755516052246,
                        "yaw": -0.9339293837547302
                    }
                },
                "velocity": {
                    "x": 6.80679178237915,
                    "y": -0.08778277784585953,
                    "z": 0.16465003788471222
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1057.734375,
                        "y": 3075.03564453125,
                        "z": 356.2008056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.29990291595459,
                "transform": {
                    "location": {
                        "x": -1193.9150390625,
                        "y": 3106.1640625,
                        "z": 351.4651794433594
                    },
                    "rotation": {
                        "roll": 0.015641141682863235,
                        "pitch": 3.067225933074951,
                        "yaw": -1.0094298124313354
                    }
                },
                "velocity": {
                    "x": 8.287454605102539,
                    "y": -0.14572790265083313,
                    "z": 0.4304058849811554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.698223114013672,
                "transform": {
                    "location": {
                        "x": -1193.511962890625,
                        "y": 3102.659423828125,
                        "z": 351.4512023925781
                    },
                    "rotation": {
                        "roll": 0.025998929515480995,
                        "pitch": 3.4044530391693115,
                        "yaw": -1.08685302734375
                    }
                },
                "velocity": {
                    "x": 8.68499755859375,
                    "y": -0.1699417233467102,
                    "z": 0.448361873626709
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.265450477600098,
                "transform": {
                    "location": {
                        "x": -1193.7213134765625,
                        "y": 3099.162841796875,
                        "z": 351.4544982910156
                    },
                    "rotation": {
                        "roll": 0.007953232154250145,
                        "pitch": 2.852696657180786,
                        "yaw": -1.070526123046875
                    }
                },
                "velocity": {
                    "x": 8.252737998962402,
                    "y": -0.16483166813850403,
                    "z": 0.4275679588317871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.386274337768555,
                "transform": {
                    "location": {
                        "x": -1193.67822265625,
                        "y": 3095.6630859375,
                        "z": 351.4513244628906
                    },
                    "rotation": {
                        "roll": 0.02345162443816662,
                        "pitch": 3.229750394821167,
                        "yaw": -1.08502197265625
                    }
                },
                "velocity": {
                    "x": 8.373480796813965,
                    "y": -0.1647491753101349,
                    "z": 0.43274757266044617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.237016677856445,
                "transform": {
                    "location": {
                        "x": -1163.1326904296875,
                        "y": 3094.9658203125,
                        "z": 352.8446044921875
                    },
                    "rotation": {
                        "roll": 0.005520631093531847,
                        "pitch": 2.1183831691741943,
                        "yaw": -0.9810178875923157
                    }
                },
                "velocity": {
                    "x": 8.229594230651855,
                    "y": -0.15486156940460205,
                    "z": 0.3134562075138092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.64587688446045,
                "transform": {
                    "location": {
                        "x": -1157.0718994140625,
                        "y": 3101.8525390625,
                        "z": 353.0513610839844
                    },
                    "rotation": {
                        "roll": 0.0065397159196436405,
                        "pitch": 2.1791443824768066,
                        "yaw": -1.170013427734375
                    }
                },
                "velocity": {
                    "x": 11.635515213012695,
                    "y": -0.242924764752388,
                    "z": 0.42689329385757446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.380859375,
                        "y": 3076.032958984375,
                        "z": 355.0677185058594
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.28553295135498,
                "transform": {
                    "location": {
                        "x": -1129.9482421875,
                        "y": 3094.253173828125,
                        "z": 354.0516052246094
                    },
                    "rotation": {
                        "roll": -0.000885007728356868,
                        "pitch": 2.5385284423828125,
                        "yaw": -1.273864507675171
                    }
                },
                "velocity": {
                    "x": 14.272527694702148,
                    "y": -0.31771257519721985,
                    "z": 0.5200529098510742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.844823837280273,
                "transform": {
                    "location": {
                        "x": -1132.235595703125,
                        "y": 3097.804931640625,
                        "z": 353.97564697265625
                    },
                    "rotation": {
                        "roll": 0.00031917053274810314,
                        "pitch": 2.0082530975341797,
                        "yaw": -1.2752685546875
                    }
                },
                "velocity": {
                    "x": 13.832185745239258,
                    "y": -0.3098859190940857,
                    "z": 0.5037602186203003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.267717361450195,
                "transform": {
                    "location": {
                        "x": -1129.3056640625,
                        "y": 3101.240966796875,
                        "z": 354.0778503417969
                    },
                    "rotation": {
                        "roll": -0.0011901851976290345,
                        "pitch": 2.2917537689208984,
                        "yaw": -1.2785948514938354
                    }
                },
                "velocity": {
                    "x": 13.255630493164062,
                    "y": -0.29459694027900696,
                    "z": 0.48350751399993896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.041007995605469,
                "transform": {
                    "location": {
                        "x": -1137.3172607421875,
                        "y": 3104.920654296875,
                        "z": 353.7829895019531
                    },
                    "rotation": {
                        "roll": -0.0004577649524435401,
                        "pitch": 2.2801220417022705,
                        "yaw": -1.279510498046875
                    }
                },
                "velocity": {
                    "x": 13.02911376953125,
                    "y": -0.29073503613471985,
                    "z": 0.47490423917770386
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.418856620788574,
                "transform": {
                    "location": {
                        "x": -1108.1925048828125,
                        "y": 3093.766845703125,
                        "z": 354.84912109375
                    },
                    "rotation": {
                        "roll": 0.00012913873069919646,
                        "pitch": 2.184403657913208,
                        "yaw": -1.279052734375
                    }
                },
                "velocity": {
                    "x": 15.40507984161377,
                    "y": -0.34455162286758423,
                    "z": 0.5531152486801147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.455184936523438,
                "transform": {
                    "location": {
                        "x": -1108.712646484375,
                        "y": 3097.279541015625,
                        "z": 354.8172302246094
                    },
                    "rotation": {
                        "roll": 0.0006071993266232312,
                        "pitch": 2.1219825744628906,
                        "yaw": -1.2776182889938354
                    }
                },
                "velocity": {
                    "x": 15.441574096679688,
                    "y": -0.3445509374141693,
                    "z": 0.5493842363357544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.533053398132324,
                "transform": {
                    "location": {
                        "x": -1108.3419189453125,
                        "y": 3100.7724609375,
                        "z": 354.8722839355469
                    },
                    "rotation": {
                        "roll": -0.0017700206954032183,
                        "pitch": 2.1493170261383057,
                        "yaw": -1.2816466093063354
                    }
                },
                "velocity": {
                    "x": 15.519378662109375,
                    "y": -0.3443087935447693,
                    "z": 0.5532383322715759
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.527359962463379,
                "transform": {
                    "location": {
                        "x": -1109.9613037109375,
                        "y": 3105.72314453125,
                        "z": 354.78411865234375
                    },
                    "rotation": {
                        "roll": -0.11569210886955261,
                        "pitch": 2.21884822845459,
                        "yaw": 8.902887344360352
                    }
                },
                "velocity": {
                    "x": 14.341520309448242,
                    "y": 2.2604472637176514,
                    "z": 0.5053242444992065
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372390747070312,
                "transform": {
                    "location": {
                        "x": -1141.404541015625,
                        "y": 3076.905517578125,
                        "z": 353.6531677246094
                    },
                    "rotation": {
                        "roll": 0.0009112631669268012,
                        "pitch": -2.099757194519043,
                        "yaw": 178.71292114257812
                    }
                },
                "velocity": {
                    "x": -16.357419967651367,
                    "y": 0.3672086298465729,
                    "z": -0.5959201455116272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.926207542419434,
                "transform": {
                    "location": {
                        "x": -1209.2841796875,
                        "y": 3078.4208984375,
                        "z": 350.6219482421875
                    },
                    "rotation": {
                        "roll": -0.00012206630344735458,
                        "pitch": -3.1415932178497314,
                        "yaw": 178.72348022460938
                    }
                },
                "velocity": {
                    "x": -15.898662567138672,
                    "y": 0.3541240096092224,
                    "z": -0.8667290806770325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1312.2296142578125,
                        "y": 3081.021484375,
                        "z": 346.09295654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47686004638672,
                "transform": {
                    "location": {
                        "x": -1237.74658203125,
                        "y": 3079.057373046875,
                        "z": 349.1306457519531
                    },
                    "rotation": {
                        "roll": 0.0007824021740816534,
                        "pitch": -2.9439685344696045,
                        "yaw": 178.72048950195312
                    }
                },
                "velocity": {
                    "x": -16.451927185058594,
                    "y": 0.3691498339176178,
                    "z": -0.8275215029716492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.44445452094078064,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4786444902420044,
        "expert_target_speed": 19.366073304084665,
        "target_point": [
            14.26802998199557,
            -0.23522953520882506
        ],
        "target_point_next": [
            65.26520835591509,
            0.3039578683727775
        ]
    },
    "395": {
        "acceleration": [
            -1.2610626220703125,
            0.07821440696716309,
            -0.3496980667114258
        ],
        "angular_velocity": [
            1.2657133340835571,
            -0.7695451378822327,
            -1.0918195247650146
        ],
        "forward_vector": [
            -0.9985479712486267,
            0.03321372717618942,
            -0.042412545531988144
        ],
        "right_vector": [
            -0.03346595540642738,
            -0.9994260668754578,
            0.005250728223472834
        ],
        "location": [
            -1179.5030517578125,
            3077.4384765625,
            352.1641845703125
        ],
        "rotation": [
            -0.3011168837547302,
            -2.430788993835449,
            178.0949249267578
        ],
        "velocity": [
            -19.795387268066406,
            0.6842572093009949,
            -0.9049552083015442
        ],
        "speed": 19.807209925206678,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 33.818603515625,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1213.2589111328125,
                3078.510009765625,
                350.40582275390625
            ],
            "velocity": [
                -15.897012710571289,
                0.35765692591667175,
                -0.8608352541923523
            ],
            "speed_kmh": 57.32755216606844,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.798661231994629,
                "transform": {
                    "location": {
                        "x": -1232.212890625,
                        "y": 3106.958251953125,
                        "z": 349.3838195800781
                    },
                    "rotation": {
                        "roll": 0.023092538118362427,
                        "pitch": 2.9587080478668213,
                        "yaw": -0.8683471083641052
                    }
                },
                "velocity": {
                    "x": 5.788395881652832,
                    "y": -0.07078354060649872,
                    "z": 0.3375464677810669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.308487415313721,
                "transform": {
                    "location": {
                        "x": -1232.2845458984375,
                        "y": 3103.464599609375,
                        "z": 349.3818664550781
                    },
                    "rotation": {
                        "roll": 0.006284357979893684,
                        "pitch": 2.7217960357666016,
                        "yaw": -0.7915039658546448
                    }
                },
                "velocity": {
                    "x": 6.300085544586182,
                    "y": -0.08115825802087784,
                    "z": 0.3151957094669342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.313608646392822,
                "transform": {
                    "location": {
                        "x": -1231.8602294921875,
                        "y": 3099.957763671875,
                        "z": 349.40240478515625
                    },
                    "rotation": {
                        "roll": 0.028113897889852524,
                        "pitch": 2.9191133975982666,
                        "yaw": -0.7042234539985657
                    }
                },
                "velocity": {
                    "x": 7.3018798828125,
                    "y": -0.09004712104797363,
                    "z": 0.4041197896003723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.427577018737793,
                "transform": {
                    "location": {
                        "x": -1232.36865234375,
                        "y": 3096.46484375,
                        "z": 349.3761291503906
                    },
                    "rotation": {
                        "roll": 0.026812342926859856,
                        "pitch": 2.9111289978027344,
                        "yaw": -0.7757567763328552
                    }
                },
                "velocity": {
                    "x": 6.411636829376221,
                    "y": -0.08159391582012177,
                    "z": 0.44497373700141907
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.8563232421875,
                        "y": 3075.128173828125,
                        "z": 356.12408447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.807118892669678,
                "transform": {
                    "location": {
                        "x": -1191.910888671875,
                        "y": 3106.1259765625,
                        "z": 351.5694885253906
                    },
                    "rotation": {
                        "roll": 0.011280005797743797,
                        "pitch": 2.946202039718628,
                        "yaw": -1.1249390840530396
                    }
                },
                "velocity": {
                    "x": 7.795206546783447,
                    "y": -0.1582336574792862,
                    "z": 0.40102407336235046
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.076993942260742,
                "transform": {
                    "location": {
                        "x": -1191.42822265625,
                        "y": 3102.61767578125,
                        "z": 351.55975341796875
                    },
                    "rotation": {
                        "roll": 0.020922429859638214,
                        "pitch": 2.9971823692321777,
                        "yaw": -1.17510986328125
                    }
                },
                "velocity": {
                    "x": 8.064801216125488,
                    "y": -0.16619177162647247,
                    "z": 0.4113372564315796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.867233753204346,
                "transform": {
                    "location": {
                        "x": -1191.715576171875,
                        "y": 3099.122314453125,
                        "z": 351.55694580078125
                    },
                    "rotation": {
                        "roll": 0.006067195441573858,
                        "pitch": 2.9647459983825684,
                        "yaw": -1.14617919921875
                    }
                },
                "velocity": {
                    "x": 7.855162620544434,
                    "y": -0.16226612031459808,
                    "z": 0.4043004512786865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.958585739135742,
                "transform": {
                    "location": {
                        "x": -1191.6483154296875,
                        "y": 3095.6220703125,
                        "z": 351.5566711425781
                    },
                    "rotation": {
                        "roll": 0.01946696639060974,
                        "pitch": 2.9546849727630615,
                        "yaw": -1.164154052734375
                    }
                },
                "velocity": {
                    "x": 7.946544647216797,
                    "y": -0.16430553793907166,
                    "z": 0.40561261773109436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.073714256286621,
                "transform": {
                    "location": {
                        "x": -1160.9661865234375,
                        "y": 3094.925537109375,
                        "z": 352.92767333984375
                    },
                    "rotation": {
                        "roll": 0.006908939220011234,
                        "pitch": 2.0433876514434814,
                        "yaw": -1.0420838594436646
                    }
                },
                "velocity": {
                    "x": 9.065607070922852,
                    "y": -0.17267213761806488,
                    "z": 0.34241437911987305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.882223129272461,
                "transform": {
                    "location": {
                        "x": -1154.009033203125,
                        "y": 3101.788330078125,
                        "z": 353.1633605957031
                    },
                    "rotation": {
                        "roll": 0.005029136314988136,
                        "pitch": 2.16597580909729,
                        "yaw": -1.2137144804000854
                    }
                },
                "velocity": {
                    "x": 12.87086009979248,
                    "y": -0.27146854996681213,
                    "z": 0.46790236234664917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.50146484375,
                        "y": 3076.125244140625,
                        "z": 354.9252014160156
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.711017608642578,
                "transform": {
                    "location": {
                        "x": -1126.29296875,
                        "y": 3094.171875,
                        "z": 354.1852722167969
                    },
                    "rotation": {
                        "roll": -0.0009155307780019939,
                        "pitch": 2.43359637260437,
                        "yaw": -1.271484613418579
                    }
                },
                "velocity": {
                    "x": 14.697623252868652,
                    "y": -0.326404333114624,
                    "z": 0.5360779166221619
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.50413703918457,
                "transform": {
                    "location": {
                        "x": -1128.69140625,
                        "y": 3097.725830078125,
                        "z": 354.1048889160156
                    },
                    "rotation": {
                        "roll": -0.0007019035401754081,
                        "pitch": 2.0098650455474854,
                        "yaw": -1.2803341150283813
                    }
                },
                "velocity": {
                    "x": 14.49083137512207,
                    "y": -0.3269931375980377,
                    "z": 0.5280967354774475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.07179069519043,
                "transform": {
                    "location": {
                        "x": -1125.8875732421875,
                        "y": 3101.16455078125,
                        "z": 354.20245361328125
                    },
                    "rotation": {
                        "roll": -3.0516925107804127e-05,
                        "pitch": 2.2976207733154297,
                        "yaw": -1.2772216796875
                    }
                },
                "velocity": {
                    "x": 14.058953285217285,
                    "y": -0.31372562050819397,
                    "z": 0.5125486850738525
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.828326225280762,
                "transform": {
                    "location": {
                        "x": -1133.95849609375,
                        "y": 3104.845458984375,
                        "z": 353.9052734375
                    },
                    "rotation": {
                        "roll": 0.000238598688156344,
                        "pitch": 2.301240921020508,
                        "yaw": -1.2734986543655396
                    }
                },
                "velocity": {
                    "x": 13.815705299377441,
                    "y": -0.30862608551979065,
                    "z": 0.5036382079124451
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5420,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.424560546875,
                        "y": 3093.55859375,
                        "z": 355.0520935058594
                    },
                    "rotation": {
                        "roll": -1.668467364268622e-09,
                        "pitch": 1.9241734743118286,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5419,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.94580078125,
                        "y": 3097.058349609375,
                        "z": 355.03118896484375
                    },
                    "rotation": {
                        "roll": -1.668467364268622e-09,
                        "pitch": 1.9241734743118286,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5418,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.10009765625,
                        "y": 3100.53955078125,
                        "z": 355.0604553222656
                    },
                    "rotation": {
                        "roll": -1.668467364268622e-09,
                        "pitch": 1.9241734743118286,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5417,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.810791015625,
                        "y": 3106.7900390625,
                        "z": 354.98040771484375
                    },
                    "rotation": {
                        "roll": 1.33470186014506e-08,
                        "pitch": 1.8298622369766235,
                        "yaw": 13.470725059509277
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37238311767578,
                "transform": {
                    "location": {
                        "x": -1145.493896484375,
                        "y": 3076.996826171875,
                        "z": 353.5040588378906
                    },
                    "rotation": {
                        "roll": -0.001403806614689529,
                        "pitch": -2.0986642837524414,
                        "yaw": 178.72523498535156
                    }
                },
                "velocity": {
                    "x": -16.357452392578125,
                    "y": 0.3647524118423462,
                    "z": -0.5963082909584045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.924320220947266,
                "transform": {
                    "location": {
                        "x": -1213.2589111328125,
                        "y": 3078.510009765625,
                        "z": 350.40582275390625
                    },
                    "rotation": {
                        "roll": 0.0010143093531951308,
                        "pitch": -3.109771251678467,
                        "yaw": 178.7092742919922
                    }
                },
                "velocity": {
                    "x": -15.897012710571289,
                    "y": 0.35765692591667175,
                    "z": -0.8608352541923523
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1316.473388671875,
                        "y": 3081.2177734375,
                        "z": 345.9852294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.475004196166992,
                "transform": {
                    "location": {
                        "x": -1241.860107421875,
                        "y": 3079.14892578125,
                        "z": 348.9259338378906
                    },
                    "rotation": {
                        "roll": -0.0022888139355927706,
                        "pitch": -2.863891363143921,
                        "yaw": 178.72923278808594
                    }
                },
                "velocity": {
                    "x": -16.451013565063477,
                    "y": 0.36555883288383484,
                    "z": -0.8101100921630859
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4453275501728058,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7426663637161255,
        "expert_target_speed": 19.65947495972233,
        "target_point": [
            9.361085890353399,
            -0.21529335431859825
        ],
        "target_point_next": [
            60.3580787973935,
            0.34115933625726336
        ]
    },
    "400": {
        "acceleration": [
            -1.5646743774414062,
            0.5617177486419678,
            -0.24917364120483398
        ],
        "angular_velocity": [
            1.0238730907440186,
            -0.35399913787841797,
            -1.7918511629104614
        ],
        "forward_vector": [
            -0.9981724619865417,
            0.04028298705816269,
            -0.045043837279081345
        ],
        "right_vector": [
            -0.040329765528440475,
            -0.9991863965988159,
            0.0001298303686780855
        ],
        "location": [
            -1184.49267578125,
            3077.620849609375,
            351.93157958984375
        ],
        "rotation": [
            -0.007446290459483862,
            -2.581695318222046,
            177.68898010253906
        ],
        "velocity": [
            -20.139156341552734,
            0.7824200391769409,
            -0.9602511525154114
        ],
        "speed": 20.154349388338225,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 32.801090240478516,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1217.23291015625,
                3078.598876953125,
                350.1903381347656
            ],
            "velocity": [
                -15.895427703857422,
                0.3575987219810486,
                -0.8624060750007629
            ],
            "speed_kmh": 57.32215722498967,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.909434795379639,
                "transform": {
                    "location": {
                        "x": -1230.7513427734375,
                        "y": 3106.93994140625,
                        "z": 349.4632873535156
                    },
                    "rotation": {
                        "roll": 0.026678578928112984,
                        "pitch": 2.921640634536743,
                        "yaw": -0.764556884765625
                    }
                },
                "velocity": {
                    "x": 5.901120662689209,
                    "y": -0.07030785083770752,
                    "z": 0.3053653836250305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.40764045715332,
                "transform": {
                    "location": {
                        "x": -1230.783935546875,
                        "y": 3103.44482421875,
                        "z": 349.45819091796875
                    },
                    "rotation": {
                        "roll": 0.02013544552028179,
                        "pitch": 2.718503952026367,
                        "yaw": -0.7523803114891052
                    }
                },
                "velocity": {
                    "x": 5.4001264572143555,
                    "y": -0.0690089538693428,
                    "z": 0.2764889895915985
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.388626575469971,
                "transform": {
                    "location": {
                        "x": -1230.025146484375,
                        "y": 3099.935302734375,
                        "z": 349.49945068359375
                    },
                    "rotation": {
                        "roll": 0.029212450608611107,
                        "pitch": 2.920219898223877,
                        "yaw": -0.6967467665672302
                    }
                },
                "velocity": {
                    "x": 7.378314018249512,
                    "y": -0.09191889315843582,
                    "z": 0.3792572617530823
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.711959362030029,
                "transform": {
                    "location": {
                        "x": -1230.7999267578125,
                        "y": 3096.444580078125,
                        "z": 349.4773254394531
                    },
                    "rotation": {
                        "roll": 0.030251603573560715,
                        "pitch": 2.8421099185943604,
                        "yaw": -0.7303160429000854
                    }
                },
                "velocity": {
                    "x": 5.702280044555664,
                    "y": -0.07153160870075226,
                    "z": 0.32460319995880127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.009765625,
                        "y": 3075.220947265625,
                        "z": 356.04412841796875
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.066463470458984,
                "transform": {
                    "location": {
                        "x": -1189.943359375,
                        "y": 3106.0859375,
                        "z": 351.6688537597656
                    },
                    "rotation": {
                        "roll": 0.00824077520519495,
                        "pitch": 2.907529354095459,
                        "yaw": -1.1485291719436646
                    }
                },
                "velocity": {
                    "x": 8.054773330688477,
                    "y": -0.16351318359375,
                    "z": 0.4021632969379425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.314445972442627,
                "transform": {
                    "location": {
                        "x": -1189.4896240234375,
                        "y": 3102.57763671875,
                        "z": 351.65826416015625
                    },
                    "rotation": {
                        "roll": 0.013904465362429619,
                        "pitch": 2.6830005645751953,
                        "yaw": -1.1506348848342896
                    }
                },
                "velocity": {
                    "x": 7.303823471069336,
                    "y": -0.14942876994609833,
                    "z": 0.36463463306427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.977355003356934,
                "transform": {
                    "location": {
                        "x": -1189.7474365234375,
                        "y": 3099.08203125,
                        "z": 351.65643310546875
                    },
                    "rotation": {
                        "roll": 0.003977917600423098,
                        "pitch": 2.8514740467071533,
                        "yaw": -1.177093267440796
                    }
                },
                "velocity": {
                    "x": 7.96582555770874,
                    "y": -0.1662706881761551,
                    "z": 0.3951885998249054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.236679553985596,
                "transform": {
                    "location": {
                        "x": -1189.800537109375,
                        "y": 3095.583740234375,
                        "z": 351.65045166015625
                    },
                    "rotation": {
                        "roll": 0.012998214922845364,
                        "pitch": 2.6958959102630615,
                        "yaw": -1.1965941190719604
                    }
                },
                "velocity": {
                    "x": 7.226032733917236,
                    "y": -0.15252923965454102,
                    "z": 0.36155128479003906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.876994132995605,
                "transform": {
                    "location": {
                        "x": -1158.594970703125,
                        "y": 3094.880126953125,
                        "z": 353.0164794921875
                    },
                    "rotation": {
                        "roll": 0.003581330645829439,
                        "pitch": 2.054295301437378,
                        "yaw": -1.1166990995407104
                    }
                },
                "velocity": {
                    "x": 9.868159294128418,
                    "y": -0.2012971192598343,
                    "z": 0.3659505248069763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.743192672729492,
                "transform": {
                    "location": {
                        "x": -1150.6756591796875,
                        "y": 3101.716064453125,
                        "z": 353.2847900390625
                    },
                    "rotation": {
                        "roll": 0.002612160751596093,
                        "pitch": 2.1572673320770264,
                        "yaw": -1.256317138671875
                    }
                },
                "velocity": {
                    "x": 13.73080825805664,
                    "y": -0.30208858847618103,
                    "z": 0.49897605180740356
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1110.6221923828125,
                        "y": 3076.217041015625,
                        "z": 354.77655029296875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.737557411193848,
                "transform": {
                    "location": {
                        "x": -1122.46875,
                        "y": 3094.086181640625,
                        "z": 354.32452392578125
                    },
                    "rotation": {
                        "roll": 0.0012238257331773639,
                        "pitch": 2.493394613265991,
                        "yaw": -1.284698486328125
                    }
                },
                "velocity": {
                    "x": 15.723201751708984,
                    "y": -0.3506670594215393,
                    "z": 0.5732864141464233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.14476490020752,
                "transform": {
                    "location": {
                        "x": -1124.9852294921875,
                        "y": 3097.64306640625,
                        "z": 354.239990234375
                    },
                    "rotation": {
                        "roll": 0.0005840444355271757,
                        "pitch": 2.012146234512329,
                        "yaw": -1.2762147188186646
                    }
                },
                "velocity": {
                    "x": 15.131010055541992,
                    "y": -0.33495524525642395,
                    "z": 0.5515661239624023
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.921554565429688,
                "transform": {
                    "location": {
                        "x": -1122.2626953125,
                        "y": 3101.083740234375,
                        "z": 354.3345947265625
                    },
                    "rotation": {
                        "roll": -0.0006408687331713736,
                        "pitch": 2.3011794090270996,
                        "yaw": -1.27874755859375
                    }
                },
                "velocity": {
                    "x": 14.907950401306152,
                    "y": -0.33258429169654846,
                    "z": 0.5433174967765808
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.671786308288574,
                "transform": {
                    "location": {
                        "x": -1130.395263671875,
                        "y": 3104.767333984375,
                        "z": 354.0351867675781
                    },
                    "rotation": {
                        "roll": -0.014129637740552425,
                        "pitch": 2.3004212379455566,
                        "yaw": -1.2339476346969604
                    }
                },
                "velocity": {
                    "x": 14.659252166748047,
                    "y": -0.2851223349571228,
                    "z": 0.5351108908653259
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37236785888672,
                "transform": {
                    "location": {
                        "x": -1149.583251953125,
                        "y": 3077.088134765625,
                        "z": 353.3549499511719
                    },
                    "rotation": {
                        "roll": 0.0004824005882255733,
                        "pitch": -2.0989034175872803,
                        "yaw": 178.7205810546875
                    }
                },
                "velocity": {
                    "x": -16.357463836669922,
                    "y": 0.36487555503845215,
                    "z": -0.5955427885055542
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.922821998596191,
                "transform": {
                    "location": {
                        "x": -1217.23291015625,
                        "y": 3078.598876953125,
                        "z": 350.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0014242236502468586,
                        "pitch": -3.1119978427886963,
                        "yaw": 178.7116241455078
                    }
                },
                "velocity": {
                    "x": -15.895427703857422,
                    "y": 0.3575987219810486,
                    "z": -0.8624060750007629
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1320.7171630859375,
                        "y": 3081.4287109375,
                        "z": 345.8904113769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47457504272461,
                "transform": {
                    "location": {
                        "x": -1245.972900390625,
                        "y": 3079.240478515625,
                        "z": 348.7234802246094
                    },
                    "rotation": {
                        "roll": 0.0026880197692662477,
                        "pitch": -2.8688364028930664,
                        "yaw": 178.71688842773438
                    }
                },
                "velocity": {
                    "x": -16.450477600097656,
                    "y": 0.3691515028476715,
                    "z": -0.810642659664154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4458128809928894,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9991543889045715,
        "expert_target_speed": 19.905043249755398,
        "target_point": [
            55.36122679561999,
            0.7498280447244792
        ],
        "target_point_next": [
            106.40768377188797,
            1.6566065733190891
        ]
    },
    "405": {
        "acceleration": [
            -2.1873855590820312,
            0.764157772064209,
            -0.19211053848266602
        ],
        "angular_velocity": [
            0.6773078441619873,
            0.11002948880195618,
            -1.9139546155929565
        ],
        "forward_vector": [
            -0.9977233409881592,
            0.04855271056294441,
            -0.046806033700704575
        ],
        "right_vector": [
            -0.048450812697410583,
            -0.9988200664520264,
            -0.0033097052946686745
        ],
        "location": [
            -1189.58642578125,
            3077.838134765625,
            351.6829528808594
        ],
        "rotation": [
            0.18984055519104004,
            -2.6827683448791504,
            177.2139892578125
        ],
        "velocity": [
            -20.62616729736328,
            0.9563906788825989,
            -1.0252344608306885
        ],
        "speed": 20.6483282739662,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 31.67804527282715,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1221.2071533203125,
                3078.68798828125,
                349.978271484375
            ],
            "velocity": [
                -15.89402961730957,
                0.35471487045288086,
                -0.8359965085983276
            ],
            "speed_kmh": 57.31182930249209,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.409054279327393,
                "transform": {
                    "location": {
                        "x": -1229.33349609375,
                        "y": 3106.9228515625,
                        "z": 349.5356140136719
                    },
                    "rotation": {
                        "roll": 0.029076844453811646,
                        "pitch": 2.9364073276519775,
                        "yaw": -0.71685791015625
                    }
                },
                "velocity": {
                    "x": 5.4017157554626465,
                    "y": -0.06350118666887283,
                    "z": 0.2744109332561493
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.049984455108643,
                "transform": {
                    "location": {
                        "x": -1229.5047607421875,
                        "y": 3103.4287109375,
                        "z": 349.5235595703125
                    },
                    "rotation": {
                        "roll": 0.02638125605881214,
                        "pitch": 2.73152232170105,
                        "yaw": -0.746063232421875
                    }
                },
                "velocity": {
                    "x": 5.042983055114746,
                    "y": -0.06382780522108078,
                    "z": 0.25805211067199707
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.746730327606201,
                "transform": {
                    "location": {
                        "x": -1228.17041015625,
                        "y": 3099.91064453125,
                        "z": 349.59466552734375
                    },
                    "rotation": {
                        "roll": 0.026648491621017456,
                        "pitch": 2.960094451904297,
                        "yaw": -0.789306640625
                    }
                },
                "velocity": {
                    "x": 7.735330104827881,
                    "y": -0.12225113809108734,
                    "z": 0.4019390046596527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.951008319854736,
                "transform": {
                    "location": {
                        "x": -1229.498779296875,
                        "y": 3096.428466796875,
                        "z": 349.54425048828125
                    },
                    "rotation": {
                        "roll": 0.029025588184595108,
                        "pitch": 2.7148361206054688,
                        "yaw": -0.7130125164985657
                    }
                },
                "velocity": {
                    "x": 4.945064067840576,
                    "y": -0.0616864338517189,
                    "z": 0.2345636934041977
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.1002197265625,
                        "y": 3075.31201171875,
                        "z": 355.9588928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051772117614746,
                "transform": {
                    "location": {
                        "x": -1187.9173583984375,
                        "y": 3106.0439453125,
                        "z": 351.7702331542969
                    },
                    "rotation": {
                        "roll": 0.0066716973669826984,
                        "pitch": 2.8261477947235107,
                        "yaw": -1.207641363143921
                    }
                },
                "velocity": {
                    "x": 8.040228843688965,
                    "y": -0.17177814245224,
                    "z": 0.39528006315231323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5002121925354,
                "transform": {
                    "location": {
                        "x": -1187.6676025390625,
                        "y": 3102.53955078125,
                        "z": 351.7483215332031
                    },
                    "rotation": {
                        "roll": 0.012259986251592636,
                        "pitch": 2.780303478240967,
                        "yaw": -1.2181700468063354
                    }
                },
                "velocity": {
                    "x": 7.489445686340332,
                    "y": -0.161257803440094,
                    "z": 0.3679424226284027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.071008682250977,
                "transform": {
                    "location": {
                        "x": -1187.735595703125,
                        "y": 3099.03955078125,
                        "z": 351.7566833496094
                    },
                    "rotation": {
                        "roll": 0.002240752335637808,
                        "pitch": 2.787625551223755,
                        "yaw": -1.2099610567092896
                    }
                },
                "velocity": {
                    "x": 8.059423446655273,
                    "y": -0.1729731559753418,
                    "z": 0.396170049905777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.99870491027832,
                "transform": {
                    "location": {
                        "x": -1187.9110107421875,
                        "y": 3095.543701171875,
                        "z": 351.74334716796875
                    },
                    "rotation": {
                        "roll": 0.010255810804665089,
                        "pitch": 2.962437391281128,
                        "yaw": -1.2198790311813354
                    }
                },
                "velocity": {
                    "x": 7.98721981048584,
                    "y": -0.1720702350139618,
                    "z": 0.3924182057380676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.659416198730469,
                "transform": {
                    "location": {
                        "x": -1156.026123046875,
                        "y": 3094.8271484375,
                        "z": 353.1112365722656
                    },
                    "rotation": {
                        "roll": 0.0029119758401066065,
                        "pitch": 1.9997153282165527,
                        "yaw": -1.1686400175094604
                    }
                },
                "velocity": {
                    "x": 10.649885177612305,
                    "y": -0.22308669984340668,
                    "z": 0.39157989621162415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.503560066223145,
                "transform": {
                    "location": {
                        "x": -1147.1429443359375,
                        "y": 3101.638671875,
                        "z": 353.4134826660156
                    },
                    "rotation": {
                        "roll": 0.00045131341903470457,
                        "pitch": 2.149289608001709,
                        "yaw": -1.2659605741500854
                    }
                },
                "velocity": {
                    "x": 14.49038314819336,
                    "y": -0.3197634220123291,
                    "z": 0.5289554595947266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.742919921875,
                        "y": 3076.30908203125,
                        "z": 354.6265563964844
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5424,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.0152587890625,
                        "y": 3093.942138671875,
                        "z": 354.4896545410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.76882553100586,
                "transform": {
                    "location": {
                        "x": -1121.12109375,
                        "y": 3097.55712890625,
                        "z": 354.3808898925781
                    },
                    "rotation": {
                        "roll": -0.0007934605237096548,
                        "pitch": 2.013655662536621,
                        "yaw": -1.27978515625
                    }
                },
                "velocity": {
                    "x": 15.754373550415039,
                    "y": -0.35430654883384705,
                    "z": 0.574478268623352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5422,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1117.4923095703125,
                        "y": 3100.90869140625,
                        "z": 354.5071105957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.492673873901367,
                "transform": {
                    "location": {
                        "x": -1126.6234130859375,
                        "y": 3104.703369140625,
                        "z": 354.1731262207031
                    },
                    "rotation": {
                        "roll": -0.0628967210650444,
                        "pitch": 2.3128316402435303,
                        "yaw": -0.7401122450828552
                    }
                },
                "velocity": {
                    "x": 15.480905532836914,
                    "y": -0.20664577186107635,
                    "z": 0.5672714114189148
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372385025024414,
                "transform": {
                    "location": {
                        "x": -1153.672607421875,
                        "y": 3077.17919921875,
                        "z": 353.2058410644531
                    },
                    "rotation": {
                        "roll": 0.0003395928943064064,
                        "pitch": -2.0991833209991455,
                        "yaw": 178.71827697753906
                    }
                },
                "velocity": {
                    "x": -16.35743522644043,
                    "y": 0.365732878446579,
                    "z": -0.5962786078453064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.919952392578125,
                "transform": {
                    "location": {
                        "x": -1221.2071533203125,
                        "y": 3078.68798828125,
                        "z": 349.978271484375
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -3.0117170810699463,
                        "yaw": 178.72256469726562
                    }
                },
                "velocity": {
                    "x": -15.89402961730957,
                    "y": 0.35471487045288086,
                    "z": -0.8359965085983276
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1324.9600830078125,
                        "y": 3081.65576171875,
                        "z": 345.8104553222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.473512649536133,
                "transform": {
                    "location": {
                        "x": -1250.0858154296875,
                        "y": 3079.332763671875,
                        "z": 348.52203369140625
                    },
                    "rotation": {
                        "roll": 0.002099420642480254,
                        "pitch": -2.8237297534942627,
                        "yaw": 178.71258544921875
                    }
                },
                "velocity": {
                    "x": -16.449979782104492,
                    "y": 0.36772119998931885,
                    "z": -0.799737811088562
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9984631538391113,
        "expert_target_speed": 20.0,
        "target_point": [
            50.25481741908901,
            1.1782001223540446
        ],
        "target_point_next": [
            101.2920028498098,
            2.5081326169261917
        ]
    },
    "410": {
        "acceleration": [
            -0.5687332153320312,
            0.36424875259399414,
            -0.13566255569458008
        ],
        "angular_velocity": [
            -0.02418377809226513,
            -0.36994117498397827,
            -1.0586926937103271
        ],
        "forward_vector": [
            -0.9972232580184937,
            0.05637606233358383,
            -0.04865739122033119
        ],
        "right_vector": [
            -0.05619985610246658,
            -0.9984070658683777,
            -0.004982931073755026
        ],
        "location": [
            -1194.81396484375,
            3078.100830078125,
            351.4161376953125
        ],
        "rotation": [
            0.2858406603336334,
            -2.78896427154541,
            176.76434326171875
        ],
        "velocity": [
            -21.113815307617188,
            1.1303476095199585,
            -1.098204493522644
        ],
        "speed": 21.14405076049803,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.4186954498291,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1225.1805419921875,
                3078.77685546875,
                349.7696533203125
            ],
            "velocity": [
                -15.893214225769043,
                0.35483935475349426,
                -0.8347850441932678
            ],
            "speed_kmh": 57.30867979295859,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.03369140625,
                        "y": 3107.634521484375,
                        "z": 347.97412109375
                    },
                    "rotation": {
                        "roll": -8.346112689849861e-10,
                        "pitch": 2.5830066204071045,
                        "yaw": -0.496429443359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.109130859375,
                        "y": 3104.2412109375,
                        "z": 347.97412109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.265625,
                        "y": 3097.2431640625,
                        "z": 347.97412109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.565673828125,
                        "y": 3100.728271484375,
                        "z": 347.8512878417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.493546009063721,
                "transform": {
                    "location": {
                        "x": -1228.004638671875,
                        "y": 3106.9033203125,
                        "z": 349.60406494140625
                    },
                    "rotation": {
                        "roll": 0.019303826615214348,
                        "pitch": 2.94197416305542,
                        "yaw": -0.8153074979782104
                    }
                },
                "velocity": {
                    "x": 5.485234260559082,
                    "y": -0.0946929082274437,
                    "z": 0.28685227036476135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.604812145233154,
                "transform": {
                    "location": {
                        "x": -1228.228271484375,
                        "y": 3103.409423828125,
                        "z": 349.58831787109375
                    },
                    "rotation": {
                        "roll": 0.04129201918840408,
                        "pitch": 2.998610019683838,
                        "yaw": -0.846160888671875
                    }
                },
                "velocity": {
                    "x": 5.596440315246582,
                    "y": -0.09380374848842621,
                    "z": 0.29150524735450745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.355145454406738,
                "transform": {
                    "location": {
                        "x": -1226.119384765625,
                        "y": 3099.877197265625,
                        "z": 349.7009582519531
                    },
                    "rotation": {
                        "roll": 0.017361586913466454,
                        "pitch": 3.0361008644104004,
                        "yaw": -0.9674072265625
                    }
                },
                "velocity": {
                    "x": 8.342425346374512,
                    "y": -0.14771419763565063,
                    "z": 0.4365440905094147
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7619500160217285,
                "transform": {
                    "location": {
                        "x": -1228.2037353515625,
                        "y": 3096.409912109375,
                        "z": 349.6053161621094
                    },
                    "rotation": {
                        "roll": 0.03715785592794418,
                        "pitch": 3.0502939224243164,
                        "yaw": -0.8510740995407104
                    }
                },
                "velocity": {
                    "x": 5.753668785095215,
                    "y": -0.09390560537576675,
                    "z": 0.29417526721954346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1074.284912109375,
                        "y": 3075.405517578125,
                        "z": 355.8658447265625
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.927128314971924,
                "transform": {
                    "location": {
                        "x": -1185.9326171875,
                        "y": 3106.001708984375,
                        "z": 351.86773681640625
                    },
                    "rotation": {
                        "roll": 0.004291166085749865,
                        "pitch": 2.8162167072296143,
                        "yaw": -1.2103575468063354
                    }
                },
                "velocity": {
                    "x": 7.916013717651367,
                    "y": -0.1690245419740677,
                    "z": 0.38408416509628296
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.334799766540527,
                "transform": {
                    "location": {
                        "x": -1185.67138671875,
                        "y": 3102.49658203125,
                        "z": 351.84490966796875
                    },
                    "rotation": {
                        "roll": 0.007211907301098108,
                        "pitch": 3.0779356956481934,
                        "yaw": -1.2188719511032104
                    }
                },
                "velocity": {
                    "x": 8.323182106018066,
                    "y": -0.1794046014547348,
                    "z": 0.4016830325126648
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.933713912963867,
                "transform": {
                    "location": {
                        "x": -1185.7418212890625,
                        "y": 3098.99658203125,
                        "z": 351.854248046875
                    },
                    "rotation": {
                        "roll": 0.001552687375806272,
                        "pitch": 2.800459384918213,
                        "yaw": -1.2344664335250854
                    }
                },
                "velocity": {
                    "x": 7.922688007354736,
                    "y": -0.17252549529075623,
                    "z": 0.3808719515800476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.19253158569336,
                "transform": {
                    "location": {
                        "x": -1185.84912109375,
                        "y": 3095.4990234375,
                        "z": 351.84417724609375
                    },
                    "rotation": {
                        "roll": 0.0056942603550851345,
                        "pitch": 3.0015196800231934,
                        "yaw": -1.238128662109375
                    }
                },
                "velocity": {
                    "x": 8.1810941696167,
                    "y": -0.17694051563739777,
                    "z": 0.3949199616909027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.421497344970703,
                "transform": {
                    "location": {
                        "x": -1153.26416015625,
                        "y": 3094.76953125,
                        "z": 353.2119445800781
                    },
                    "rotation": {
                        "roll": 0.00037697821971960366,
                        "pitch": 1.9969422817230225,
                        "yaw": -1.2154847383499146
                    }
                },
                "velocity": {
                    "x": 11.411311149597168,
                    "y": -0.2463950514793396,
                    "z": 0.41458404064178467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.254935264587402,
                "transform": {
                    "location": {
                        "x": -1143.4227294921875,
                        "y": 3101.556396484375,
                        "z": 353.54913330078125
                    },
                    "rotation": {
                        "roll": 0.0015554390847682953,
                        "pitch": 2.147554874420166,
                        "yaw": -1.26654052734375
                    }
                },
                "velocity": {
                    "x": 15.241080284118652,
                    "y": -0.3368489146232605,
                    "z": 0.5559355616569519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.89501953125,
                        "y": 3076.401611328125,
                        "z": 354.4751892089844
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5423,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.8792724609375,
                        "y": 3097.3330078125,
                        "z": 354.60516357421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.8492431640625,
                        "y": 3104.60888671875,
                        "z": 354.3840026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": 1.3559300899505615
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372861862182617,
                "transform": {
                    "location": {
                        "x": -1157.7618408203125,
                        "y": 3077.270751953125,
                        "z": 353.056396484375
                    },
                    "rotation": {
                        "roll": 0.0003680190711747855,
                        "pitch": -2.1166346073150635,
                        "yaw": 178.71759033203125
                    }
                },
                "velocity": {
                    "x": -16.357656478881836,
                    "y": 0.3661462366580963,
                    "z": -0.6030094027519226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.91907787322998,
                "transform": {
                    "location": {
                        "x": -1225.1805419921875,
                        "y": 3078.77685546875,
                        "z": 349.7696533203125
                    },
                    "rotation": {
                        "roll": -0.0003356880624778569,
                        "pitch": -3.016716718673706,
                        "yaw": 178.72169494628906
                    }
                },
                "velocity": {
                    "x": -15.893214225769043,
                    "y": 0.35483935475349426,
                    "z": -0.8347850441932678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5390,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1329.2025146484375,
                        "y": 3081.89892578125,
                        "z": 345.7447509765625
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.472951889038086,
                "transform": {
                    "location": {
                        "x": -1254.1981201171875,
                        "y": 3079.424560546875,
                        "z": 348.3226013183594
                    },
                    "rotation": {
                        "roll": 0.0006937683210708201,
                        "pitch": -2.821503162384033,
                        "yaw": 178.7227020263672
                    }
                },
                "velocity": {
                    "x": -16.4495792388916,
                    "y": 0.3693481385707855,
                    "z": -0.7956501841545105
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000232458114624,
        "expert_target_speed": 20.0,
        "target_point": [
            45.00999095868214,
            1.5397686736044605
        ],
        "target_point_next": [
            96.03516784649251,
            3.2701850100853944
        ]
    },
    "415": {
        "acceleration": [
            -2.6163864135742188,
            -0.13687849044799805,
            -0.24480342864990234
        ],
        "angular_velocity": [
            -0.7140493988990784,
            0.20066200196743011,
            1.9041974544525146
        ],
        "forward_vector": [
            -0.9973893165588379,
            0.05166660249233246,
            -0.050449758768081665
        ],
        "right_vector": [
            -0.05160544067621231,
            -0.998664379119873,
            -0.002515023574233055
        ],
        "location": [
            -1200.1610107421875,
            3078.384521484375,
            351.13116455078125
        ],
        "rotation": [
            0.14428411424160004,
            -2.8917858600616455,
            177.0346221923828
        ],
        "velocity": [
            -21.74839973449707,
            1.1300982236862183,
            -1.1805801391601562
        ],
        "speed": 21.777741228296634,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 29.039445877075195,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1229.154052734375,
                3078.864990234375,
                349.56207275390625
            ],
            "velocity": [
                -15.891668319702148,
                0.3533538281917572,
                -0.817530632019043
            ],
            "speed_kmh": 57.29978054672752,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.1263427734375,
                        "y": 3074.68701171875,
                        "z": 356.4779357910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1265.95166015625,
                        "y": 3107.6328125,
                        "z": 347.8931884765625
                    },
                    "rotation": {
                        "roll": -8.346112689849861e-10,
                        "pitch": 2.5830066204071045,
                        "yaw": -0.496429443359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1266.0277099609375,
                        "y": 3104.194580078125,
                        "z": 347.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1266.184326171875,
                        "y": 3097.1962890625,
                        "z": 347.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1265.483154296875,
                        "y": 3100.681884765625,
                        "z": 347.8348693847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.17396354675293,
                "transform": {
                    "location": {
                        "x": -1226.547607421875,
                        "y": 3106.878662109375,
                        "z": 349.6804504394531
                    },
                    "rotation": {
                        "roll": 0.019087016582489014,
                        "pitch": 2.9172215461730957,
                        "yaw": -0.8739928603172302
                    }
                },
                "velocity": {
                    "x": 6.164669036865234,
                    "y": -0.10712194442749023,
                    "z": 0.3212558627128601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.129883289337158,
                "transform": {
                    "location": {
                        "x": -1226.625732421875,
                        "y": 3103.382080078125,
                        "z": 349.6697082519531
                    },
                    "rotation": {
                        "roll": 0.0314132496714592,
                        "pitch": 3.523742198944092,
                        "yaw": -0.9538267850875854
                    }
                },
                "velocity": {
                    "x": 7.11916971206665,
                    "y": -0.12493433058261871,
                    "z": 0.37019583582878113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.843014240264893,
                "transform": {
                    "location": {
                        "x": -1224.10400390625,
                        "y": 3099.841064453125,
                        "z": 349.807373046875
                    },
                    "rotation": {
                        "roll": 0.011753513477742672,
                        "pitch": 3.011423349380493,
                        "yaw": -1.05328369140625
                    }
                },
                "velocity": {
                    "x": 7.830763816833496,
                    "y": -0.14496438205242157,
                    "z": 0.4135136306285858
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.21040678024292,
                "transform": {
                    "location": {
                        "x": -1226.6077880859375,
                        "y": 3096.38330078125,
                        "z": 349.6856689453125
                    },
                    "rotation": {
                        "roll": 0.024096665903925896,
                        "pitch": 3.4084348678588867,
                        "yaw": -1.0186156034469604
                    }
                },
                "velocity": {
                    "x": 7.199326515197754,
                    "y": -0.1312153935432434,
                    "z": 0.37741681933403015
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.37548828125,
                        "y": 3075.49658203125,
                        "z": 355.7685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.066363334655762,
                "transform": {
                    "location": {
                        "x": -1183.93359375,
                        "y": 3105.958984375,
                        "z": 351.9637145996094
                    },
                    "rotation": {
                        "roll": 0.003182656830176711,
                        "pitch": 2.7408454418182373,
                        "yaw": -1.2425535917282104
                    }
                },
                "velocity": {
                    "x": 8.055471420288086,
                    "y": -0.1727689653635025,
                    "z": 0.381773978471756
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.908260822296143,
                "transform": {
                    "location": {
                        "x": -1183.6361083984375,
                        "y": 3102.452392578125,
                        "z": 351.94342041015625
                    },
                    "rotation": {
                        "roll": 0.0044746240600943565,
                        "pitch": 2.7551820278167725,
                        "yaw": -1.259918212890625
                    }
                },
                "velocity": {
                    "x": 7.8973612785339355,
                    "y": -0.17352761328220367,
                    "z": 0.3770395517349243
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039717674255371,
                "transform": {
                    "location": {
                        "x": -1183.748046875,
                        "y": 3098.953369140625,
                        "z": 351.94964599609375
                    },
                    "rotation": {
                        "roll": 0.0010436293669044971,
                        "pitch": 2.696100950241089,
                        "yaw": -1.2391968965530396
                    }
                },
                "velocity": {
                    "x": 8.028800010681152,
                    "y": -0.1753583550453186,
                    "z": 0.3803534507751465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.789647102355957,
                "transform": {
                    "location": {
                        "x": -1183.873291015625,
                        "y": 3095.455810546875,
                        "z": 351.9398498535156
                    },
                    "rotation": {
                        "roll": 0.0031544335652142763,
                        "pitch": 2.685896635055542,
                        "yaw": -1.2480772733688354
                    }
                },
                "velocity": {
                    "x": 7.7789788246154785,
                    "y": -0.1695576310157776,
                    "z": 0.370594322681427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.163982391357422,
                "transform": {
                    "location": {
                        "x": -1150.314453125,
                        "y": 3094.70556640625,
                        "z": 353.31927490234375
                    },
                    "rotation": {
                        "roll": 0.000830995209980756,
                        "pitch": 2.0015664100646973,
                        "yaw": -1.2379151582717896
                    }
                },
                "velocity": {
                    "x": 12.15303897857666,
                    "y": -0.26378747820854187,
                    "z": 0.44332221150398254
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.001468658447266,
                "transform": {
                    "location": {
                        "x": -1139.515380859375,
                        "y": 3101.46923828125,
                        "z": 353.6916809082031
                    },
                    "rotation": {
                        "roll": 0.00010317064152332023,
                        "pitch": 2.147711992263794,
                        "yaw": -1.28466796875
                    }
                },
                "velocity": {
                    "x": 15.986833572387695,
                    "y": -0.35786357522010803,
                    "z": 0.5832036733627319
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.9844970703125,
                        "y": 3076.4931640625,
                        "z": 354.3259582519531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.373992919921875,
                "transform": {
                    "location": {
                        "x": -1161.8509521484375,
                        "y": 3077.36181640625,
                        "z": 352.90374755859375
                    },
                    "rotation": {
                        "roll": -0.0009765628492459655,
                        "pitch": -2.17156982421875,
                        "yaw": 178.7266387939453
                    }
                },
                "velocity": {
                    "x": -16.35832977294922,
                    "y": 0.3639441132545471,
                    "z": -0.6166406869888306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.916605949401855,
                "transform": {
                    "location": {
                        "x": -1229.154052734375,
                        "y": 3078.864990234375,
                        "z": 349.56207275390625
                    },
                    "rotation": {
                        "roll": -0.0005187923088669777,
                        "pitch": -2.9592885971069336,
                        "yaw": 178.7267303466797
                    }
                },
                "velocity": {
                    "x": -15.891668319702148,
                    "y": 0.3533538281917572,
                    "z": -0.817530632019043
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.470972061157227,
                "transform": {
                    "location": {
                        "x": -1258.311279296875,
                        "y": 3079.516845703125,
                        "z": 348.12603759765625
                    },
                    "rotation": {
                        "roll": -0.0007934587774798274,
                        "pitch": -2.7394726276397705,
                        "yaw": 178.72250366210938
                    }
                },
                "velocity": {
                    "x": -16.448606491088867,
                    "y": 0.3670463562011719,
                    "z": -0.7755952477455139
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9994617104530334,
        "expert_target_speed": 20.0,
        "target_point": [
            39.66219223478552,
            1.3341020178683873
        ],
        "target_point_next": [
            90.6949650416163,
            2.8237720404882563
        ]
    },
    "420": {
        "acceleration": [
            -1.22711181640625,
            -0.6085205078125,
            -0.12094736099243164
        ],
        "angular_velocity": [
            -0.6746721863746643,
            -0.3070634603500366,
            1.919737458229065
        ],
        "forward_vector": [
            -0.9977049231529236,
            0.04321054741740227,
            -0.05213173106312752
        ],
        "right_vector": [
            -0.04329623281955719,
            -0.9990621209144592,
            0.0005148869822733104
        ],
        "location": [
            -1205.657470703125,
            3078.654052734375,
            350.8292236328125
        ],
        "rotation": [
            -0.02954101748764515,
            -2.9882826805114746,
            177.52008056640625
        ],
        "velocity": [
            -22.160654067993164,
            1.0118345022201538,
            -1.2291817665100098
        ],
        "speed": 22.183741744375432,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.51043128967285,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1233.126953125,
                3078.9541015625,
                349.35906982421875
            ],
            "velocity": [
                -15.889701843261719,
                0.3542495667934418,
                -0.8077847957611084
            ],
            "speed_kmh": 57.29099242242797,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.248779296875,
                        "y": 3074.779052734375,
                        "z": 356.38800048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.473918437957764,
                "transform": {
                    "location": {
                        "x": -1264.1136474609375,
                        "y": 3107.631103515625,
                        "z": 347.84698486328125
                    },
                    "rotation": {
                        "roll": 0.06240702047944069,
                        "pitch": 2.30991530418396,
                        "yaw": -0.380096435546875
                    }
                },
                "velocity": {
                    "x": 6.4726080894470215,
                    "y": -0.006714216433465481,
                    "z": 0.13005198538303375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.811025619506836,
                "transform": {
                    "location": {
                        "x": -1264.280029296875,
                        "y": 3104.1630859375,
                        "z": 347.81951904296875
                    },
                    "rotation": {
                        "roll": -0.0025024425704032183,
                        "pitch": 2.3971571922302246,
                        "yaw": -1.01312255859375
                    }
                },
                "velocity": {
                    "x": 5.808831691741943,
                    "y": -0.03477141261100769,
                    "z": 0.15582390129566193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.917154312133789,
                "transform": {
                    "location": {
                        "x": -1264.506103515625,
                        "y": 3097.168701171875,
                        "z": 347.8235168457031
                    },
                    "rotation": {
                        "roll": -0.0584106408059597,
                        "pitch": 1.944124460220337,
                        "yaw": -0.9184877276420593
                    }
                },
                "velocity": {
                    "x": 5.914967060089111,
                    "y": -0.05123209208250046,
                    "z": 0.15250004827976227
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.001439094543457,
                "transform": {
                    "location": {
                        "x": -1263.46728515625,
                        "y": 3100.654296875,
                        "z": 347.8765563964844
                    },
                    "rotation": {
                        "roll": 0.00027703712112270296,
                        "pitch": 2.5504813194274902,
                        "yaw": -0.78741455078125
                    }
                },
                "velocity": {
                    "x": 7.994790554046631,
                    "y": -0.10586292296648026,
                    "z": 0.3084622621536255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.499423027038574,
                "transform": {
                    "location": {
                        "x": -1224.8958740234375,
                        "y": 3106.8505859375,
                        "z": 349.7672119140625
                    },
                    "rotation": {
                        "roll": 0.013879669830203056,
                        "pitch": 2.8871686458587646,
                        "yaw": -0.9890746474266052
                    }
                },
                "velocity": {
                    "x": 7.487847328186035,
                    "y": -0.13250799477100372,
                    "z": 0.39488211274147034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.822127342224121,
                "transform": {
                    "location": {
                        "x": -1224.7125244140625,
                        "y": 3103.3486328125,
                        "z": 349.77008056640625
                    },
                    "rotation": {
                        "roll": 0.0249934159219265,
                        "pitch": 3.5048773288726807,
                        "yaw": -1.00738525390625
                    }
                },
                "velocity": {
                    "x": 7.810037136077881,
                    "y": -0.13975778222084045,
                    "z": 0.4116533696651459
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.926424503326416,
                "transform": {
                    "location": {
                        "x": -1222.134033203125,
                        "y": 3099.802978515625,
                        "z": 349.9111328125
                    },
                    "rotation": {
                        "roll": 0.009013881906867027,
                        "pitch": 3.0160679817199707,
                        "yaw": -1.1333009004592896
                    }
                },
                "velocity": {
                    "x": 7.913823127746582,
                    "y": -0.1604996770620346,
                    "z": 0.416950523853302
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.282967567443848,
                "transform": {
                    "location": {
                        "x": -1224.7410888671875,
                        "y": 3096.349853515625,
                        "z": 349.7843933105469
                    },
                    "rotation": {
                        "roll": 0.013525662012398243,
                        "pitch": 3.353349447250366,
                        "yaw": -1.0588682889938354
                    }
                },
                "velocity": {
                    "x": 8.270079612731934,
                    "y": -0.149791419506073,
                    "z": 0.43692389130592346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.4979248046875,
                        "y": 3075.588623046875,
                        "z": 355.66424560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.985169410705566,
                "transform": {
                    "location": {
                        "x": -1181.9285888671875,
                        "y": 3105.915283203125,
                        "z": 352.05865478515625
                    },
                    "rotation": {
                        "roll": 0.0029328761156648397,
                        "pitch": 2.6859991550445557,
                        "yaw": -1.239166021347046
                    }
                },
                "velocity": {
                    "x": 7.974514007568359,
                    "y": -0.17590518295764923,
                    "z": 0.3729793429374695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9412522315979,
                "transform": {
                    "location": {
                        "x": -1181.68017578125,
                        "y": 3102.409423828125,
                        "z": 352.03570556640625
                    },
                    "rotation": {
                        "roll": 0.003804847365245223,
                        "pitch": 2.704406499862671,
                        "yaw": -1.2478941679000854
                    }
                },
                "velocity": {
                    "x": 7.930713176727295,
                    "y": -0.17364825308322906,
                    "z": 0.3702983856201172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.970848560333252,
                "transform": {
                    "location": {
                        "x": -1181.748779296875,
                        "y": 3098.90966796875,
                        "z": 352.0440979003906
                    },
                    "rotation": {
                        "roll": 0.0005266841617412865,
                        "pitch": 2.664757251739502,
                        "yaw": -1.2528990507125854
                    }
                },
                "velocity": {
                    "x": 7.960227012634277,
                    "y": -0.1741013526916504,
                    "z": 0.3726963698863983
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.134946823120117,
                "transform": {
                    "location": {
                        "x": -1181.8856201171875,
                        "y": 3095.412353515625,
                        "z": 352.0330810546875
                    },
                    "rotation": {
                        "roll": 0.0020942899864166975,
                        "pitch": 2.7874341011047363,
                        "yaw": -1.2567138671875
                    }
                },
                "velocity": {
                    "x": 8.124120712280273,
                    "y": -0.1783728003501892,
                    "z": 0.37973907589912415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.877924919128418,
                "transform": {
                    "location": {
                        "x": -1147.182861328125,
                        "y": 3094.63720703125,
                        "z": 353.4334716796875
                    },
                    "rotation": {
                        "roll": -0.0003662129456643015,
                        "pitch": 2.0050771236419678,
                        "yaw": -1.2623289823532104
                    }
                },
                "velocity": {
                    "x": 12.866273880004883,
                    "y": -0.2827347218990326,
                    "z": 0.4690502882003784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5428,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.596435546875,
                        "y": 3101.268310546875,
                        "z": 353.8816223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1127.105712890625,
                        "y": 3076.585205078125,
                        "z": 354.17578125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.376792907714844,
                "transform": {
                    "location": {
                        "x": -1165.939453125,
                        "y": 3077.453125,
                        "z": 352.7451171875
                    },
                    "rotation": {
                        "roll": -0.0012512218672782183,
                        "pitch": -2.3122785091400146,
                        "yaw": 178.71722412109375
                    }
                },
                "velocity": {
                    "x": -16.35967445373535,
                    "y": 0.3658500611782074,
                    "z": -0.6531272530555725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.914164543151855,
                "transform": {
                    "location": {
                        "x": -1233.126953125,
                        "y": 3078.9541015625,
                        "z": 349.35906982421875
                    },
                    "rotation": {
                        "roll": 0.0014867036370560527,
                        "pitch": -2.9207184314727783,
                        "yaw": 178.71397399902344
                    }
                },
                "velocity": {
                    "x": -15.889701843261719,
                    "y": 0.3542495667934418,
                    "z": -0.8077847957611084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.46924591064453,
                "transform": {
                    "location": {
                        "x": -1262.4234619140625,
                        "y": 3079.608642578125,
                        "z": 347.93304443359375
                    },
                    "rotation": {
                        "roll": -0.002319334540516138,
                        "pitch": -2.718353748321533,
                        "yaw": 178.71961975097656
                    }
                },
                "velocity": {
                    "x": -16.44764518737793,
                    "y": 0.3655722737312317,
                    "z": -0.7598736882209778
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0015891790390015,
        "expert_target_speed": 20.0,
        "target_point": [
            34.16909704556198,
            1.0294750918258033
        ],
        "target_point_next": [
            85.2126592316566,
            2.0867245818661813
        ]
    },
    "425": {
        "acceleration": [
            -1.2072372436523438,
            -0.6454968452453613,
            0.06584882736206055
        ],
        "angular_velocity": [
            -0.31598547101020813,
            0.10731114447116852,
            1.821089267730713
        ],
        "forward_vector": [
            -0.9980286359786987,
            0.034722279757261276,
            -0.05228065699338913
        ],
        "right_vector": [
            -0.034912992268800735,
            -0.9993866086006165,
            0.0027387691661715508
        ],
        "location": [
            -1211.236083984375,
            3078.88623046875,
            350.5215148925781
        ],
        "rotation": [
            -0.157135009765625,
            -2.9968273639678955,
            178.00743103027344
        ],
        "velocity": [
            -22.458391189575195,
            0.8451154232025146,
            -1.2272666692733765
        ],
        "speed": 22.474286527107452,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 25.899370193481445,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1237.0989990234375,
                3079.04296875,
                349.15679931640625
            ],
            "velocity": [
                -15.887359619140625,
                0.3533945381641388,
                -0.8041907548904419
            ],
            "speed_kmh": 57.28184954717605,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.3719482421875,
                        "y": 3074.87109375,
                        "z": 356.3260803222656
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.117345333099365,
                "transform": {
                    "location": {
                        "x": -1262.541259765625,
                        "y": 3107.61962890625,
                        "z": 347.9042053222656
                    },
                    "rotation": {
                        "roll": 0.08098316937685013,
                        "pitch": 2.54414963722229,
                        "yaw": -0.4624633193016052
                    }
                },
                "velocity": {
                    "x": 6.111430644989014,
                    "y": -0.05441457778215408,
                    "z": 0.26338085532188416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.4416680335998535,
                "transform": {
                    "location": {
                        "x": -1262.8760986328125,
                        "y": 3104.144287109375,
                        "z": 347.8797912597656
                    },
                    "rotation": {
                        "roll": 0.02137632668018341,
                        "pitch": 2.535099744796753,
                        "yaw": -0.811126708984375
                    }
                },
                "velocity": {
                    "x": 5.434873104095459,
                    "y": -0.0701543539762497,
                    "z": 0.2626473307609558
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.039628028869629,
                "transform": {
                    "location": {
                        "x": -1263.00732421875,
                        "y": 3097.150634765625,
                        "z": 347.8857421875
                    },
                    "rotation": {
                        "roll": 0.01416259165853262,
                        "pitch": 2.355807304382324,
                        "yaw": -0.744354248046875
                    }
                },
                "velocity": {
                    "x": 6.032039642333984,
                    "y": -0.07884296029806137,
                    "z": 0.292207270860672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.885592937469482,
                "transform": {
                    "location": {
                        "x": -1261.48291015625,
                        "y": 3100.628173828125,
                        "z": 347.9618225097656
                    },
                    "rotation": {
                        "roll": 0.017008131369948387,
                        "pitch": 2.6675028800964355,
                        "yaw": -0.7588500380516052
                    }
                },
                "velocity": {
                    "x": 7.876954078674316,
                    "y": -0.10394230484962463,
                    "z": 0.3540683686733246
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.299495697021484,
                "transform": {
                    "location": {
                        "x": -1222.8812255859375,
                        "y": 3106.8134765625,
                        "z": 349.8734436035156
                    },
                    "rotation": {
                        "roll": 0.006777748931199312,
                        "pitch": 2.8955764770507812,
                        "yaw": -1.0634765625
                    }
                },
                "velocity": {
                    "x": 8.286378860473633,
                    "y": -0.1651560515165329,
                    "z": 0.43619871139526367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.592711448669434,
                "transform": {
                    "location": {
                        "x": -1222.5831298828125,
                        "y": 3103.30810546875,
                        "z": 349.882568359375
                    },
                    "rotation": {
                        "roll": 0.027651472017169,
                        "pitch": 3.4381120204925537,
                        "yaw": -1.1011351346969604
                    }
                },
                "velocity": {
                    "x": 8.57911205291748,
                    "y": -0.16988015174865723,
                    "z": 0.45240333676338196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.328042984008789,
                "transform": {
                    "location": {
                        "x": -1220.0833740234375,
                        "y": 3099.76123046875,
                        "z": 350.0190124511719
                    },
                    "rotation": {
                        "roll": 0.004951878450810909,
                        "pitch": 3.0239977836608887,
                        "yaw": -1.1841429471969604
                    }
                },
                "velocity": {
                    "x": 8.31475830078125,
                    "y": -0.17337670922279358,
                    "z": 0.43707555532455444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.307924270629883,
                "transform": {
                    "location": {
                        "x": -1222.634765625,
                        "y": 3096.309814453125,
                        "z": 349.8972473144531
                    },
                    "rotation": {
                        "roll": 0.018732910975813866,
                        "pitch": 3.1519887447357178,
                        "yaw": -1.0839232206344604
                    }
                },
                "velocity": {
                    "x": 8.294822692871094,
                    "y": -0.1636425405740738,
                    "z": 0.43673256039619446
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.620849609375,
                        "y": 3075.68115234375,
                        "z": 355.5528869628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.002265930175781,
                "transform": {
                    "location": {
                        "x": -1179.9364013671875,
                        "y": 3105.87158203125,
                        "z": 352.1513671875
                    },
                    "rotation": {
                        "roll": 0.001970230368897319,
                        "pitch": 2.672058582305908,
                        "yaw": -1.2760618925094604
                    }
                },
                "velocity": {
                    "x": 7.992063045501709,
                    "y": -0.17819513380527496,
                    "z": 0.36253684759140015
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.124340057373047,
                "transform": {
                    "location": {
                        "x": -1179.656982421875,
                        "y": 3102.364990234375,
                        "z": 352.1291809082031
                    },
                    "rotation": {
                        "roll": 0.00032267262577079237,
                        "pitch": 2.7554757595062256,
                        "yaw": -1.2768248319625854
                    }
                },
                "velocity": {
                    "x": 8.113929748535156,
                    "y": -0.17880946397781372,
                    "z": 0.37024328112602234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026114463806152,
                "transform": {
                    "location": {
                        "x": -1179.7525634765625,
                        "y": 3098.865478515625,
                        "z": 352.13671875
                    },
                    "rotation": {
                        "roll": -0.00021361993276514113,
                        "pitch": 2.6390552520751953,
                        "yaw": -1.2637022733688354
                    }
                },
                "velocity": {
                    "x": 8.015937805175781,
                    "y": -0.17863769829273224,
                    "z": 0.36241668462753296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997237205505371,
                "transform": {
                    "location": {
                        "x": -1179.8636474609375,
                        "y": 3095.367431640625,
                        "z": 352.12701416015625
                    },
                    "rotation": {
                        "roll": 0.004846551921218634,
                        "pitch": 2.6995980739593506,
                        "yaw": -1.2734375
                    }
                },
                "velocity": {
                    "x": 7.986932754516602,
                    "y": -0.17910531163215637,
                    "z": 0.36418068408966064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.567623138427734,
                "transform": {
                    "location": {
                        "x": -1143.8763427734375,
                        "y": 3094.564208984375,
                        "z": 353.55401611328125
                    },
                    "rotation": {
                        "roll": 0.00041650206549093127,
                        "pitch": 2.0079867839813232,
                        "yaw": -1.2644346952438354
                    }
                },
                "velocity": {
                    "x": 13.555302619934082,
                    "y": -0.29940906167030334,
                    "z": 0.494495153427124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.2274169921875,
                        "y": 3076.677490234375,
                        "z": 354.0255126953125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37933349609375,
                "transform": {
                    "location": {
                        "x": -1170.02880859375,
                        "y": 3077.544189453125,
                        "z": 352.5785827636719
                    },
                    "rotation": {
                        "roll": -0.0007324215257540345,
                        "pitch": -2.4093899726867676,
                        "yaw": 178.72100830078125
                    }
                },
                "velocity": {
                    "x": -16.36136817932129,
                    "y": 0.36523258686065674,
                    "z": -0.6743981838226318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.911625862121582,
                "transform": {
                    "location": {
                        "x": -1237.0989990234375,
                        "y": 3079.04296875,
                        "z": 349.15679931640625
                    },
                    "rotation": {
                        "roll": -0.0010070817079395056,
                        "pitch": -2.922480583190918,
                        "yaw": 178.71922302246094
                    }
                },
                "velocity": {
                    "x": -15.887359619140625,
                    "y": 0.3533945381641388,
                    "z": -0.8041907548904419
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.465744018554688,
                "transform": {
                    "location": {
                        "x": -1266.536376953125,
                        "y": 3079.700439453125,
                        "z": 347.7469787597656
                    },
                    "rotation": {
                        "roll": 0.00015906846965663135,
                        "pitch": -2.568936347961426,
                        "yaw": 178.71932983398438
                    }
                },
                "velocity": {
                    "x": -16.445575714111328,
                    "y": 0.3675437569618225,
                    "z": -0.727070689201355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9984641075134277,
        "expert_target_speed": 20.0,
        "target_point": [
            28.59330450040458,
            0.7768759518315522
        ],
        "target_point_next": [
            79.6440128891448,
            1.3999250170807198
        ]
    },
    "430": {
        "acceleration": [
            -1.0392379760742188,
            -0.6387972831726074,
            -0.05911111831665039
        ],
        "angular_velocity": [
            -0.19333942234516144,
            -0.07083224505186081,
            1.6048650741577148
        ],
        "forward_vector": [
            -0.9982450604438782,
            0.027390606701374054,
            -0.05250339210033417
        ],
        "right_vector": [
            -0.027624597772955894,
            -0.9996114373207092,
            0.0037360393907874823
        ],
        "location": [
            -1216.887939453125,
            3079.077392578125,
            350.2144470214844
        ],
        "rotation": [
            -0.21435542404651642,
            -3.0096065998077393,
            178.4282684326172
        ],
        "velocity": [
            -22.737281799316406,
            0.6825531721115112,
            -1.2332361936569214
        ],
        "speed": 22.747524314841044,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.21562957763672,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1241.0709228515625,
                3079.131591796875,
                348.9586181640625
            ],
            "velocity": [
                -15.883332252502441,
                0.3540670573711395,
                -0.7826998829841614
            ],
            "speed_kmh": 57.2635679063569,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.4954833984375,
                        "y": 3074.963134765625,
                        "z": 356.2581481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.92432975769043,
                "transform": {
                    "location": {
                        "x": -1261.0013427734375,
                        "y": 3107.60498046875,
                        "z": 347.97357177734375
                    },
                    "rotation": {
                        "roll": 0.05121469125151634,
                        "pitch": 2.6556594371795654,
                        "yaw": -0.5497131943702698
                    }
                },
                "velocity": {
                    "x": 5.917783260345459,
                    "y": -0.05972599238157272,
                    "z": 0.27195486426353455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.9617486000061035,
                "transform": {
                    "location": {
                        "x": -1261.5286865234375,
                        "y": 3104.12646484375,
                        "z": 347.94329833984375
                    },
                    "rotation": {
                        "roll": 0.02476324327290058,
                        "pitch": 2.624725341796875,
                        "yaw": -0.7738035321235657
                    }
                },
                "velocity": {
                    "x": 4.955842018127441,
                    "y": -0.06374096870422363,
                    "z": 0.23349107801914215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.984795570373535,
                "transform": {
                    "location": {
                        "x": -1261.60302734375,
                        "y": 3097.132080078125,
                        "z": 347.9533386230469
                    },
                    "rotation": {
                        "roll": 0.02391110360622406,
                        "pitch": 2.381659507751465,
                        "yaw": -0.762451171875
                    }
                },
                "velocity": {
                    "x": 4.97871208190918,
                    "y": -0.06667713820934296,
                    "z": 0.2369978427886963
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.75197696685791,
                "transform": {
                    "location": {
                        "x": -1259.5306396484375,
                        "y": 3100.60205078125,
                        "z": 348.0520935058594
                    },
                    "rotation": {
                        "roll": 0.025083085522055626,
                        "pitch": 2.707705497741699,
                        "yaw": -0.7574158310890198
                    }
                },
                "velocity": {
                    "x": 7.742716312408447,
                    "y": -0.1030835285782814,
                    "z": 0.3645024001598358
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.926712512969971,
                "transform": {
                    "location": {
                        "x": -1220.853759765625,
                        "y": 3106.77294921875,
                        "z": 349.9791259765625
                    },
                    "rotation": {
                        "roll": 0.0069817290641367435,
                        "pitch": 3.0191004276275635,
                        "yaw": -1.1330565214157104
                    }
                },
                "velocity": {
                    "x": 7.914151668548584,
                    "y": -0.16092367470264435,
                    "z": 0.4160212576389313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072027206420898,
                "transform": {
                    "location": {
                        "x": -1220.527099609375,
                        "y": 3103.26708984375,
                        "z": 349.9923400878906
                    },
                    "rotation": {
                        "roll": 0.017999013885855675,
                        "pitch": 3.0494401454925537,
                        "yaw": -1.15399169921875
                    }
                },
                "velocity": {
                    "x": 8.059159278869629,
                    "y": -0.16345517337322235,
                    "z": 0.4252718985080719
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044686317443848,
                "transform": {
                    "location": {
                        "x": -1218.039794921875,
                        "y": 3099.71826171875,
                        "z": 350.12762451171875
                    },
                    "rotation": {
                        "roll": 0.0038634121883660555,
                        "pitch": 3.0547404289245605,
                        "yaw": -1.2174681425094604
                    }
                },
                "velocity": {
                    "x": 8.031153678894043,
                    "y": -0.17288213968276978,
                    "z": 0.433195561170578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.909295558929443,
                "transform": {
                    "location": {
                        "x": -1220.6195068359375,
                        "y": 3096.27001953125,
                        "z": 350.00531005859375
                    },
                    "rotation": {
                        "roll": 0.011320557445287704,
                        "pitch": 2.901273012161255,
                        "yaw": -1.154449462890625
                    }
                },
                "velocity": {
                    "x": 7.896729469299316,
                    "y": -0.1615428477525711,
                    "z": 0.41535788774490356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.7750244140625,
                        "y": 3075.77392578125,
                        "z": 355.43365478515625
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024688720703125,
                "transform": {
                    "location": {
                        "x": -1177.9334716796875,
                        "y": 3105.8271484375,
                        "z": 352.2427673339844
                    },
                    "rotation": {
                        "roll": 0.0014634003164246678,
                        "pitch": 2.5739428997039795,
                        "yaw": -1.25506591796875
                    }
                },
                "velocity": {
                    "x": 8.014568328857422,
                    "y": -0.17752759158611298,
                    "z": 0.3616585433483124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.915174961090088,
                "transform": {
                    "location": {
                        "x": -1177.661865234375,
                        "y": 3102.320556640625,
                        "z": 352.2204284667969
                    },
                    "rotation": {
                        "roll": 0.002050752053037286,
                        "pitch": 2.5635132789611816,
                        "yaw": -1.2582396268844604
                    }
                },
                "velocity": {
                    "x": 7.905213832855225,
                    "y": -0.17451037466526031,
                    "z": 0.35656264424324036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9719977378845215,
                "transform": {
                    "location": {
                        "x": -1177.7557373046875,
                        "y": 3098.821533203125,
                        "z": 352.22747802734375
                    },
                    "rotation": {
                        "roll": 5.336333197192289e-05,
                        "pitch": 2.5419366359710693,
                        "yaw": -1.2703245878219604
                    }
                },
                "velocity": {
                    "x": 7.961951732635498,
                    "y": -0.17884311079978943,
                    "z": 0.35789406299591064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.952245712280273,
                "transform": {
                    "location": {
                        "x": -1177.884521484375,
                        "y": 3095.323486328125,
                        "z": 352.2173767089844
                    },
                    "rotation": {
                        "roll": 0.0019720729906111956,
                        "pitch": 2.5787718296051025,
                        "yaw": -1.2767030000686646
                    }
                },
                "velocity": {
                    "x": 7.942147254943848,
                    "y": -0.17842957377433777,
                    "z": 0.3587065041065216
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5430,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.201416015625,
                        "y": 3094.36181640625,
                        "z": 353.7579345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.349609375,
                        "y": 3076.76953125,
                        "z": 353.87518310546875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.381637573242188,
                "transform": {
                    "location": {
                        "x": -1174.1185302734375,
                        "y": 3077.635986328125,
                        "z": 352.4050598144531
                    },
                    "rotation": {
                        "roll": -0.0006713845068588853,
                        "pitch": -2.4762234687805176,
                        "yaw": 178.7239990234375
                    }
                },
                "velocity": {
                    "x": -16.36219596862793,
                    "y": 0.36375877261161804,
                    "z": -0.7101313471794128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.906546592712402,
                "transform": {
                    "location": {
                        "x": -1241.0709228515625,
                        "y": 3079.131591796875,
                        "z": 348.9586181640625
                    },
                    "rotation": {
                        "roll": -3.0516122933477163e-05,
                        "pitch": -2.824610948562622,
                        "yaw": 178.72373962402344
                    }
                },
                "velocity": {
                    "x": -15.883332252502441,
                    "y": 0.3540670573711395,
                    "z": -0.7826998829841614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4630126953125,
                "transform": {
                    "location": {
                        "x": -1270.6480712890625,
                        "y": 3079.79248046875,
                        "z": 347.5666809082031
                    },
                    "rotation": {
                        "roll": 0.0010122823296114802,
                        "pitch": -2.522395610809326,
                        "yaw": 178.71836853027344
                    }
                },
                "velocity": {
                    "x": -16.44378089904785,
                    "y": 0.3677522540092468,
                    "z": -0.7054255604743958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0000197887420654,
        "expert_target_speed": 20.0,
        "target_point": [
            22.943267096538413,
            0.6029042506681465
        ],
        "target_point_next": [
            73.99717472724426,
            0.8509622383529427
        ]
    },
    "435": {
        "acceleration": [
            -0.7590866088867188,
            -0.5931675434112549,
            0.08470296859741211
        ],
        "angular_velocity": [
            -0.03482164815068245,
            -0.010915035381913185,
            1.4461815357208252
        ],
        "forward_vector": [
            -0.9984809756278992,
            0.020636389032006264,
            -0.051086943596601486
        ],
        "right_vector": [
            -0.020877018570899963,
            -0.9997733235359192,
            0.00418101018294692
        ],
        "location": [
            -1222.6055908203125,
            3079.229248046875,
            349.9092102050781
        ],
        "rotation": [
            -0.2398681491613388,
            -2.9283409118652344,
            178.8159942626953
        ],
        "velocity": [
            -22.974079132080078,
            0.5298336744308472,
            -1.2068299055099487
        ],
        "speed": 22.98018789500291,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.46505355834961,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1245.0413818359375,
                3079.22021484375,
                348.76300048828125
            ],
            "velocity": [
                -15.880152702331543,
                0.3539431393146515,
                -0.7835348844528198
            ],
            "speed_kmh": 57.25227632622704,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1300.6148681640625,
                        "y": 3098.0673828125,
                        "z": 346.8143310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.922404408454895,
                        "yaw": -2.030883550643921
                    }
                },
                "velocity": {
                    "x": 5.059492824699419e-10,
                    "y": -1.7941193669601674e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.279052734375,
                        "y": 3101.522705078125,
                        "z": 346.48785400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.922404408454895,
                        "yaw": -1.9713438749313354
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.681396484375,
                        "y": 3075.056396484375,
                        "z": 356.1833190917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1358256340026855,
                "transform": {
                    "location": {
                        "x": -1259.665771484375,
                        "y": 3107.591064453125,
                        "z": 348.03582763671875
                    },
                    "rotation": {
                        "roll": 0.06023809686303139,
                        "pitch": 2.6295201778411865,
                        "yaw": -0.57745361328125
                    }
                },
                "velocity": {
                    "x": 5.129844665527344,
                    "y": -0.05245684087276459,
                    "z": 0.24217019975185394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.464629173278809,
                "transform": {
                    "location": {
                        "x": -1260.376953125,
                        "y": 3104.11279296875,
                        "z": 347.9969482421875
                    },
                    "rotation": {
                        "roll": 0.017602870240807533,
                        "pitch": 2.681730270385742,
                        "yaw": -0.9119874238967896
                    }
                },
                "velocity": {
                    "x": 4.459204196929932,
                    "y": -0.05860521271824837,
                    "z": 0.21208009123802185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.230966567993164,
                "transform": {
                    "location": {
                        "x": -1260.349853515625,
                        "y": 3097.115234375,
                        "z": 348.01165771484375
                    },
                    "rotation": {
                        "roll": 0.024617498740553856,
                        "pitch": 2.6552836894989014,
                        "yaw": -0.7802123427391052
                    }
                },
                "velocity": {
                    "x": 5.224459648132324,
                    "y": -0.07092677801847458,
                    "z": 0.25100094079971313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.271538257598877,
                "transform": {
                    "location": {
                        "x": -1257.82421875,
                        "y": 3100.576171875,
                        "z": 348.13275146484375
                    },
                    "rotation": {
                        "roll": 0.031039102002978325,
                        "pitch": 2.506023645401001,
                        "yaw": -0.8815916776657104
                    }
                },
                "velocity": {
                    "x": 6.2636847496032715,
                    "y": -0.10512558370828629,
                    "z": 0.2956233024597168
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.918580055236816,
                "transform": {
                    "location": {
                        "x": -1218.890380859375,
                        "y": 3106.733642578125,
                        "z": 350.08270263671875
                    },
                    "rotation": {
                        "roll": 0.0066785430535674095,
                        "pitch": 3.005624532699585,
                        "yaw": -1.1522520780563354
                    }
                },
                "velocity": {
                    "x": 7.905757427215576,
                    "y": -0.16076886653900146,
                    "z": 0.4207864999771118
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.23704719543457,
                "transform": {
                    "location": {
                        "x": -1218.646484375,
                        "y": 3103.22900390625,
                        "z": 350.092529296875
                    },
                    "rotation": {
                        "roll": 0.013950652442872524,
                        "pitch": 2.839657783508301,
                        "yaw": -1.168365478515625
                    }
                },
                "velocity": {
                    "x": 7.225156307220459,
                    "y": -0.15093418955802917,
                    "z": 0.38625219464302063
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.893374919891357,
                "transform": {
                    "location": {
                        "x": -1216.05810546875,
                        "y": 3099.675537109375,
                        "z": 350.23394775390625
                    },
                    "rotation": {
                        "roll": 0.002124310238286853,
                        "pitch": 3.113903522491455,
                        "yaw": -1.2426146268844604
                    }
                },
                "velocity": {
                    "x": 7.87995719909668,
                    "y": -0.17103062570095062,
                    "z": 0.42707106471061707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.958298683166504,
                "transform": {
                    "location": {
                        "x": -1218.651123046875,
                        "y": 3096.229248046875,
                        "z": 350.10845947265625
                    },
                    "rotation": {
                        "roll": 0.008054550737142563,
                        "pitch": 3.03259015083313,
                        "yaw": -1.1964722871780396
                    }
                },
                "velocity": {
                    "x": 7.9451446533203125,
                    "y": -0.16849830746650696,
                    "z": 0.4252064526081085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1094.92919921875,
                        "y": 3075.86669921875,
                        "z": 355.30810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.992251873016357,
                "transform": {
                    "location": {
                        "x": -1175.9349365234375,
                        "y": 3105.78271484375,
                        "z": 352.33209228515625
                    },
                    "rotation": {
                        "roll": -0.0007019037730060518,
                        "pitch": 2.5569632053375244,
                        "yaw": -1.288482427597046
                    }
                },
                "velocity": {
                    "x": 7.982326984405518,
                    "y": -0.18005521595478058,
                    "z": 0.3551431894302368
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.044987678527832,
                "transform": {
                    "location": {
                        "x": -1175.67138671875,
                        "y": 3102.276611328125,
                        "z": 352.30889892578125
                    },
                    "rotation": {
                        "roll": 0.0009067780920304358,
                        "pitch": 2.610443592071533,
                        "yaw": -1.289276123046875
                    }
                },
                "velocity": {
                    "x": 8.035074234008789,
                    "y": -0.18013152480125427,
                    "z": 0.35631826519966125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02888011932373,
                "transform": {
                    "location": {
                        "x": -1175.7578125,
                        "y": 3098.777099609375,
                        "z": 352.3165588378906
                    },
                    "rotation": {
                        "roll": 0.0008911378681659698,
                        "pitch": 2.535161256790161,
                        "yaw": -1.2679749727249146
                    }
                },
                "velocity": {
                    "x": 8.019002914428711,
                    "y": -0.1772296130657196,
                    "z": 0.3565148711204529
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072333335876465,
                "transform": {
                    "location": {
                        "x": -1175.87646484375,
                        "y": 3095.278564453125,
                        "z": 352.3066711425781
                    },
                    "rotation": {
                        "roll": 0.0003558392927516252,
                        "pitch": 2.62245774269104,
                        "yaw": -1.27593994140625
                    }
                },
                "velocity": {
                    "x": 8.062344551086426,
                    "y": -0.18074561655521393,
                    "z": 0.3584759533405304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.44140625,
                        "y": 3076.86083984375,
                        "z": 353.72601318359375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.383718490600586,
                "transform": {
                    "location": {
                        "x": -1178.2086181640625,
                        "y": 3077.72705078125,
                        "z": 352.2244567871094
                    },
                    "rotation": {
                        "roll": 0.0002686406660359353,
                        "pitch": -2.579803228378296,
                        "yaw": 178.71775817871094
                    }
                },
                "velocity": {
                    "x": -16.363142013549805,
                    "y": 0.367482990026474,
                    "z": -0.7339914441108704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.903409957885742,
                "transform": {
                    "location": {
                        "x": -1245.0413818359375,
                        "y": 3079.22021484375,
                        "z": 348.76300048828125
                    },
                    "rotation": {
                        "roll": -0.0003356928064022213,
                        "pitch": -2.8316938877105713,
                        "yaw": 178.7232208251953
                    }
                },
                "velocity": {
                    "x": -15.880152702331543,
                    "y": 0.3539431393146515,
                    "z": -0.7835348844528198
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.46002197265625,
                "transform": {
                    "location": {
                        "x": -1274.759765625,
                        "y": 3079.88427734375,
                        "z": 347.3935852050781
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -2.405271530151367,
                        "yaw": 178.72486877441406
                    }
                },
                "velocity": {
                    "x": -16.441926956176758,
                    "y": 0.36629217863082886,
                    "z": -0.67911696434021
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0002363920211792,
        "expert_target_speed": 20.0,
        "target_point": [
            17.2272533158592,
            0.48130902668987197
        ],
        "target_point_next": [
            68.28167058237632,
            0.3838682433521621
        ]
    },
    "440": {
        "acceleration": [
            -1.02294921875,
            -0.32870471477508545,
            0.14263629913330078
        ],
        "angular_velocity": [
            0.23047196865081787,
            0.562636137008667,
            0.7110665440559387
        ],
        "forward_vector": [
            -0.9985728859901428,
            0.01527358964085579,
            -0.05117635056376457
        ],
        "right_vector": [
            -0.015498219057917595,
            -0.9998719096183777,
            0.003995346371084452
        ],
        "location": [
            -1228.369384765625,
            3079.345947265625,
            349.60748291015625
        ],
        "rotation": [
            -0.22921745479106903,
            -2.9334704875946045,
            179.1237030029297
        ],
        "velocity": [
            -23.15183448791504,
            0.4075995981693268,
            -1.2010666131973267
        ],
        "speed": 23.1554222070823,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.66803550720215,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1249.01123046875,
                3079.30859375,
                348.5679931640625
            ],
            "velocity": [
                -15.877100944519043,
                0.35384899377822876,
                -0.7743757367134094
            ],
            "speed_kmh": 57.23968316453321,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.71728515625,
                        "y": 3105.04052734375,
                        "z": 346.5498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.922404408454895,
                        "yaw": -1.9713438749313354
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.5794677734375,
                        "y": 3097.997802734375,
                        "z": 346.50408935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.1978759765625,
                        "y": 3101.45458984375,
                        "z": 346.55169677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.8367919921875,
                        "y": 3075.14990234375,
                        "z": 356.1053771972656
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.481351852416992,
                "transform": {
                    "location": {
                        "x": -1258.3385009765625,
                        "y": 3107.57470703125,
                        "z": 348.09881591796875
                    },
                    "rotation": {
                        "roll": 0.05298977717757225,
                        "pitch": 2.7302722930908203,
                        "yaw": -0.7631530165672302
                    }
                },
                "velocity": {
                    "x": 5.4745774269104,
                    "y": -0.08122142404317856,
                    "z": 0.260043740272522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.4691362380981445,
                "transform": {
                    "location": {
                        "x": -1259.142333984375,
                        "y": 3104.09716796875,
                        "z": 348.05487060546875
                    },
                    "rotation": {
                        "roll": 0.01249306183308363,
                        "pitch": 2.749622344970703,
                        "yaw": -0.9818726181983948
                    }
                },
                "velocity": {
                    "x": 5.462512493133545,
                    "y": -0.07259733229875565,
                    "z": 0.2591134011745453
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.438993453979492,
                "transform": {
                    "location": {
                        "x": -1259.058349609375,
                        "y": 3097.09716796875,
                        "z": 348.07293701171875
                    },
                    "rotation": {
                        "roll": 0.034840282052755356,
                        "pitch": 2.7448410987854004,
                        "yaw": -0.802490234375
                    }
                },
                "velocity": {
                    "x": 5.4321160316467285,
                    "y": -0.08870749175548553,
                    "z": 0.2586376965045929
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.22493839263916,
                "transform": {
                    "location": {
                        "x": -1256.267578125,
                        "y": 3100.54931640625,
                        "z": 348.20635986328125
                    },
                    "rotation": {
                        "roll": 0.021629339084029198,
                        "pitch": 2.6641013622283936,
                        "yaw": -0.9797361493110657
                    }
                },
                "velocity": {
                    "x": 6.216955661773682,
                    "y": -0.11053348332643509,
                    "z": 0.29513052105903625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.086812973022461,
                "transform": {
                    "location": {
                        "x": -1216.883056640625,
                        "y": 3106.69140625,
                        "z": 350.1903076171875
                    },
                    "rotation": {
                        "roll": 0.003191034309566021,
                        "pitch": 3.0592620372772217,
                        "yaw": -1.20172119140625
                    }
                },
                "velocity": {
                    "x": 8.073226928710938,
                    "y": -0.1731472611427307,
                    "z": 0.4353920519351959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.797624588012695,
                "transform": {
                    "location": {
                        "x": -1216.787353515625,
                        "y": 3103.189697265625,
                        "z": 350.19097900390625
                    },
                    "rotation": {
                        "roll": 0.01131974533200264,
                        "pitch": 3.1870274543762207,
                        "yaw": -1.212860107421875
                    }
                },
                "velocity": {
                    "x": 7.784644603729248,
                    "y": -0.16746345162391663,
                    "z": 0.417386531829834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.011503219604492,
                "transform": {
                    "location": {
                        "x": -1214.0733642578125,
                        "y": 3099.632080078125,
                        "z": 350.3418273925781
                    },
                    "rotation": {
                        "roll": 0.002136825816705823,
                        "pitch": 3.112551212310791,
                        "yaw": -1.2575377225875854
                    }
                },
                "velocity": {
                    "x": 7.997771263122559,
                    "y": -0.17654836177825928,
                    "z": 0.4343605637550354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.151646614074707,
                "transform": {
                    "location": {
                        "x": -1216.6290283203125,
                        "y": 3096.186279296875,
                        "z": 350.21588134765625
                    },
                    "rotation": {
                        "roll": 0.005465482361614704,
                        "pitch": 3.2012617588043213,
                        "yaw": -1.2333678007125854
                    }
                },
                "velocity": {
                    "x": 8.137930870056152,
                    "y": -0.17614775896072388,
                    "z": 0.4386332631111145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1099.0836181640625,
                        "y": 3075.959228515625,
                        "z": 355.1762390136719
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017391204833984,
                "transform": {
                    "location": {
                        "x": -1173.936767578125,
                        "y": 3105.738037109375,
                        "z": 352.4197998046875
                    },
                    "rotation": {
                        "roll": 0.00120091054122895,
                        "pitch": 2.5132977962493896,
                        "yaw": -1.260162353515625
                    }
                },
                "velocity": {
                    "x": 8.008028030395508,
                    "y": -0.1781047135591507,
                    "z": 0.34399306774139404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016786575317383,
                "transform": {
                    "location": {
                        "x": -1173.6614990234375,
                        "y": 3102.231201171875,
                        "z": 352.39678955078125
                    },
                    "rotation": {
                        "roll": 0.0016522769583389163,
                        "pitch": 2.5419094562530518,
                        "yaw": -1.2710267305374146
                    }
                },
                "velocity": {
                    "x": 8.00732707977295,
                    "y": -0.1795250028371811,
                    "z": 0.3454643189907074
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.973270416259766,
                "transform": {
                    "location": {
                        "x": -1173.760498046875,
                        "y": 3098.732666015625,
                        "z": 352.4039306640625
                    },
                    "rotation": {
                        "roll": 0.0007495370227843523,
                        "pitch": 2.4808542728424072,
                        "yaw": -1.272155523300171
                    }
                },
                "velocity": {
                    "x": 7.964061737060547,
                    "y": -0.17710335552692413,
                    "z": 0.33970344066619873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9645209312438965,
                "transform": {
                    "location": {
                        "x": -1173.8765869140625,
                        "y": 3095.234375,
                        "z": 352.3943176269531
                    },
                    "rotation": {
                        "roll": 0.00015085405902937055,
                        "pitch": 2.523932456970215,
                        "yaw": -1.2772215604782104
                    }
                },
                "velocity": {
                    "x": 7.955163478851318,
                    "y": -0.1773993968963623,
                    "z": 0.34278038144111633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.53369140625,
                        "y": 3076.9521484375,
                        "z": 353.5767822265625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.3864803314209,
                "transform": {
                    "location": {
                        "x": -1182.2984619140625,
                        "y": 3077.818359375,
                        "z": 352.0367431640625
                    },
                    "rotation": {
                        "roll": -0.0012512186076492071,
                        "pitch": -2.7146859169006348,
                        "yaw": 178.72689819335938
                    }
                },
                "velocity": {
                    "x": -16.36440086364746,
                    "y": 0.3644278943538666,
                    "z": -0.7683015465736389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.899911880493164,
                "transform": {
                    "location": {
                        "x": -1249.01123046875,
                        "y": 3079.30859375,
                        "z": 348.5679931640625
                    },
                    "rotation": {
                        "roll": -0.00045776303159072995,
                        "pitch": -2.793431043624878,
                        "yaw": 178.7226104736328
                    }
                },
                "velocity": {
                    "x": -15.877100944519043,
                    "y": 0.35384899377822876,
                    "z": -0.7743757367134094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.457307815551758,
                "transform": {
                    "location": {
                        "x": -1278.8707275390625,
                        "y": 3079.97607421875,
                        "z": 347.225341796875
                    },
                    "rotation": {
                        "roll": 0.012105833739042282,
                        "pitch": -2.3376457691192627,
                        "yaw": 178.71737670898438
                    }
                },
                "velocity": {
                    "x": -16.44005012512207,
                    "y": 0.36701372265815735,
                    "z": -0.6580369472503662
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.999919056892395,
        "expert_target_speed": 20.0,
        "target_point": [
            11.464685003401291,
            0.41732694670882087
        ],
        "target_point_next": [
            62.5178428395804,
            0.0457195139484704
        ]
    },
    "445": {
        "acceleration": [
            -1.6947174072265625,
            -0.07686734199523926,
            -0.05110979080200195
        ],
        "angular_velocity": [
            0.3297989070415497,
            0.1943756490945816,
            -0.12038503587245941
        ],
        "forward_vector": [
            -0.9986887574195862,
            0.014672581106424332,
            -0.049046263098716736
        ],
        "right_vector": [
            -0.01482083834707737,
            -0.9998866319656372,
            0.0026604842860251665
        ],
        "location": [
            -1234.20556640625,
            3079.44140625,
            349.3083190917969
        ],
        "rotation": [
            -0.1526183784008026,
            -2.8112716674804688,
            179.1582794189453
        ],
        "velocity": [
            -23.53447151184082,
            0.362724632024765,
            -1.1941384077072144
        ],
        "speed": 23.537266589396584,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.797880172729492,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1252.980224609375,
                3079.3974609375,
                348.3752746582031
            ],
            "velocity": [
                -15.874053955078125,
                0.35335054993629456,
                -0.7709937691688538
            ],
            "speed_kmh": 57.228098042453915,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.076898574829102,
                "transform": {
                    "location": {
                        "x": -1297.6512451171875,
                        "y": 3104.972412109375,
                        "z": 346.53875732421875
                    },
                    "rotation": {
                        "roll": -0.001068113837391138,
                        "pitch": 1.9470341205596924,
                        "yaw": -1.712798833847046
                    }
                },
                "velocity": {
                    "x": 8.071738243103027,
                    "y": -0.23761193454265594,
                    "z": 0.16395629942417145
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.874744892120361,
                "transform": {
                    "location": {
                        "x": -1296.6922607421875,
                        "y": 3097.9384765625,
                        "z": 346.5606689453125
                    },
                    "rotation": {
                        "roll": -0.0005188024369999766,
                        "pitch": 1.904994249343872,
                        "yaw": -1.6748658418655396
                    }
                },
                "velocity": {
                    "x": 6.869772911071777,
                    "y": -0.18028898537158966,
                    "z": 0.18929757177829742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9607391357421875,
                "transform": {
                    "location": {
                        "x": -1295.154296875,
                        "y": 3101.398681640625,
                        "z": 346.61285400390625
                    },
                    "rotation": {
                        "roll": -0.08584592491388321,
                        "pitch": 1.9040858745574951,
                        "yaw": -1.394683837890625
                    }
                },
                "velocity": {
                    "x": 7.955573558807373,
                    "y": -0.15333065390586853,
                    "z": 0.24230943620204926
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.99267578125,
                        "y": 3075.24267578125,
                        "z": 356.0245666503906
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.52921724319458,
                "transform": {
                    "location": {
                        "x": -1256.6318359375,
                        "y": 3107.54736328125,
                        "z": 348.1799011230469
                    },
                    "rotation": {
                        "roll": 0.03444012999534607,
                        "pitch": 2.9555728435516357,
                        "yaw": -0.9101867079734802
                    }
                },
                "velocity": {
                    "x": 7.519744873046875,
                    "y": -0.12343581765890121,
                    "z": 0.3568052649497986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.901138782501221,
                "transform": {
                    "location": {
                        "x": -1257.6929931640625,
                        "y": 3104.07177734375,
                        "z": 348.12298583984375
                    },
                    "rotation": {
                        "roll": 0.018928226083517075,
                        "pitch": 2.800910234451294,
                        "yaw": -0.9463502168655396
                    }
                },
                "velocity": {
                    "x": 6.892365455627441,
                    "y": -0.12321741133928299,
                    "z": 0.32531753182411194
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.039629936218262,
                "transform": {
                    "location": {
                        "x": -1257.4632568359375,
                        "y": 3097.06982421875,
                        "z": 348.1466979980469
                    },
                    "rotation": {
                        "roll": 0.03340907394886017,
                        "pitch": 3.198495388031006,
                        "yaw": -0.9448242783546448
                    }
                },
                "velocity": {
                    "x": 7.030703544616699,
                    "y": -0.12523460388183594,
                    "z": 0.33153441548347473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.328901290893555,
                "transform": {
                    "location": {
                        "x": -1254.4293212890625,
                        "y": 3100.515869140625,
                        "z": 348.29443359375
                    },
                    "rotation": {
                        "roll": 0.015417353250086308,
                        "pitch": 3.0809683799743652,
                        "yaw": -1.032104253768921
                    }
                },
                "velocity": {
                    "x": 8.317957878112793,
                    "y": -0.15189999341964722,
                    "z": 0.39886870980262756
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.931177616119385,
                "transform": {
                    "location": {
                        "x": -1214.8861083984375,
                        "y": 3106.64892578125,
                        "z": 350.2979736328125
                    },
                    "rotation": {
                        "roll": 0.0033933056984096766,
                        "pitch": 3.1050448417663574,
                        "yaw": -1.2192076444625854
                    }
                },
                "velocity": {
                    "x": 7.917598724365234,
                    "y": -0.17006537318229675,
                    "z": 0.4316052794456482
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.288102149963379,
                "transform": {
                    "location": {
                        "x": -1214.739990234375,
                        "y": 3103.1455078125,
                        "z": 350.3011779785156
                    },
                    "rotation": {
                        "roll": 0.00602042768150568,
                        "pitch": 3.3588340282440186,
                        "yaw": -1.231170415878296
                    }
                },
                "velocity": {
                    "x": 8.2739896774292,
                    "y": -0.17807123064994812,
                    "z": 0.44946134090423584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.995291233062744,
                "transform": {
                    "location": {
                        "x": -1212.073974609375,
                        "y": 3099.588134765625,
                        "z": 350.4504089355469
                    },
                    "rotation": {
                        "roll": 0.0012411919888108969,
                        "pitch": 3.108535051345825,
                        "yaw": -1.262328863143921
                    }
                },
                "velocity": {
                    "x": 7.981600284576416,
                    "y": -0.17577174305915833,
                    "z": 0.4334050714969635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.988877296447754,
                "transform": {
                    "location": {
                        "x": -1214.615234375,
                        "y": 3096.142333984375,
                        "z": 350.32568359375
                    },
                    "rotation": {
                        "roll": 0.0020560789853334427,
                        "pitch": 3.133321762084961,
                        "yaw": -1.255035400390625
                    }
                },
                "velocity": {
                    "x": 7.975128650665283,
                    "y": -0.17445498704910278,
                    "z": 0.43479636311531067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.23828125,
                        "y": 3076.052001953125,
                        "z": 355.0381164550781
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00832748413086,
                "transform": {
                    "location": {
                        "x": -1171.935791015625,
                        "y": 3105.694091796875,
                        "z": 352.5062561035156
                    },
                    "rotation": {
                        "roll": 0.00041073860484175384,
                        "pitch": 2.422183036804199,
                        "yaw": -1.284942388534546
                    }
                },
                "velocity": {
                    "x": 7.999106407165527,
                    "y": -0.1798037439584732,
                    "z": 0.33953794836997986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.982143878936768,
                "transform": {
                    "location": {
                        "x": -1171.669189453125,
                        "y": 3102.1865234375,
                        "z": 352.48260498046875
                    },
                    "rotation": {
                        "roll": 0.0007370259263552725,
                        "pitch": 2.4455559253692627,
                        "yaw": -1.305511236190796
                    }
                },
                "velocity": {
                    "x": 7.972933769226074,
                    "y": -0.18172284960746765,
                    "z": 0.33752769231796265
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031534194946289,
                "transform": {
                    "location": {
                        "x": -1171.762451171875,
                        "y": 3098.6884765625,
                        "z": 352.4898681640625
                    },
                    "rotation": {
                        "roll": -0.0008239735034294426,
                        "pitch": 2.396467447280884,
                        "yaw": -1.276458501815796
                    }
                },
                "velocity": {
                    "x": 8.022366523742676,
                    "y": -0.17887213826179504,
                    "z": 0.3393842875957489
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027840614318848,
                "transform": {
                    "location": {
                        "x": -1171.8824462890625,
                        "y": 3095.189697265625,
                        "z": 352.48016357421875
                    },
                    "rotation": {
                        "roll": -0.00024414269137196243,
                        "pitch": 2.4613542556762695,
                        "yaw": -1.2752685546875
                    }
                },
                "velocity": {
                    "x": 8.018728256225586,
                    "y": -0.17735229432582855,
                    "z": 0.33877867460250854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.6571044921875,
                        "y": 3077.044189453125,
                        "z": 353.4263916015625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.388891220092773,
                "transform": {
                    "location": {
                        "x": -1186.388916015625,
                        "y": 3077.909423828125,
                        "z": 351.8416442871094
                    },
                    "rotation": {
                        "roll": 0.0011122602736577392,
                        "pitch": -2.8099329471588135,
                        "yaw": 178.7246551513672
                    }
                },
                "velocity": {
                    "x": -16.365863800048828,
                    "y": 0.3651823401451111,
                    "z": -0.7879647016525269
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.89669418334961,
                "transform": {
                    "location": {
                        "x": -1252.980224609375,
                        "y": 3079.3974609375,
                        "z": 348.3752746582031
                    },
                    "rotation": {
                        "roll": -0.0004272482474334538,
                        "pitch": -2.785583257675171,
                        "yaw": 178.72523498535156
                    }
                },
                "velocity": {
                    "x": -15.874053955078125,
                    "y": 0.35335054993629456,
                    "z": -0.7709937691688538
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.454608917236328,
                "transform": {
                    "location": {
                        "x": -1282.9813232421875,
                        "y": 3080.068359375,
                        "z": 347.0643005371094
                    },
                    "rotation": {
                        "roll": 0.03554854169487953,
                        "pitch": -2.24548602104187,
                        "yaw": 178.69784545898438
                    }
                },
                "velocity": {
                    "x": -16.438140869140625,
                    "y": 0.37472331523895264,
                    "z": -0.6334689855575562
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9996591210365295,
        "expert_target_speed": 20.0,
        "target_point": [
            56.680904862688024,
            0.017694996025165888
        ],
        "target_point_next": [
            107.69253700613481,
            -1.6874810218359455
        ]
    },
    "450": {
        "acceleration": [
            -1.3530349731445312,
            0.07421672344207764,
            0.12477874755859375
        ],
        "angular_velocity": [
            0.2837366759777069,
            0.46727123856544495,
            -0.24153123795986176
        ],
        "forward_vector": [
            -0.9987654685974121,
            0.01561546791344881,
            -0.04715612158179283
        ],
        "right_vector": [
            -0.015692641958594322,
            -0.999876081943512,
            0.0012667861301451921
        ],
        "location": [
            -1240.1446533203125,
            3079.53271484375,
            349.00848388671875
        ],
        "rotation": [
            -0.072662353515625,
            -2.7028491497039795,
            179.10426330566406
        ],
        "velocity": [
            -23.9363956451416,
            0.3696478605270386,
            -1.1895818710327148
        ],
        "speed": 23.939249696294702,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.8243465423584,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1256.94873046875,
                3079.48583984375,
                348.1842041015625
            ],
            "velocity": [
                -15.870244026184082,
                0.35647135972976685,
                -0.753184974193573
            ],
            "speed_kmh": 57.21157840268279,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.006824493408203,
                "transform": {
                    "location": {
                        "x": -1295.6427001953125,
                        "y": 3104.920166015625,
                        "z": 346.5854187011719
                    },
                    "rotation": {
                        "roll": 0.01604785956442356,
                        "pitch": 1.9595675468444824,
                        "yaw": -1.3482056856155396
                    }
                },
                "velocity": {
                    "x": 8.001680374145508,
                    "y": -0.16451992094516754,
                    "z": 0.2351408153772354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.556360244750977,
                "transform": {
                    "location": {
                        "x": -1295.01611328125,
                        "y": 3097.898681640625,
                        "z": 346.61187744140625
                    },
                    "rotation": {
                        "roll": 0.010012205690145493,
                        "pitch": 1.9669373035430908,
                        "yaw": -1.269561767578125
                    }
                },
                "velocity": {
                    "x": 6.551660537719727,
                    "y": -0.11888760328292847,
                    "z": 0.21788211166858673
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.057997703552246,
                "transform": {
                    "location": {
                        "x": -1293.15234375,
                        "y": 3101.36328125,
                        "z": 346.6770324707031
                    },
                    "rotation": {
                        "roll": -0.030578607693314552,
                        "pitch": 1.9723126888275146,
                        "yaw": -0.98095703125
                    }
                },
                "velocity": {
                    "x": 8.052226066589355,
                    "y": -0.1399347335100174,
                    "z": 0.27092069387435913
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.148193359375,
                        "y": 3075.335205078125,
                        "z": 355.93658447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.309358596801758,
                "transform": {
                    "location": {
                        "x": -1254.636474609375,
                        "y": 3107.514404296875,
                        "z": 348.2751770019531
                    },
                    "rotation": {
                        "roll": 0.018351558595895767,
                        "pitch": 2.9203429222106934,
                        "yaw": -0.9462890625
                    }
                },
                "velocity": {
                    "x": 8.298601150512695,
                    "y": -0.14100702106952667,
                    "z": 0.39847052097320557
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.308963775634766,
                "transform": {
                    "location": {
                        "x": -1255.7567138671875,
                        "y": 3104.037353515625,
                        "z": 348.21441650390625
                    },
                    "rotation": {
                        "roll": 0.013754910789430141,
                        "pitch": 2.818060874938965,
                        "yaw": -1.0057677030563354
                    }
                },
                "velocity": {
                    "x": 8.298274993896484,
                    "y": -0.14992782473564148,
                    "z": 0.39373382925987244
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7165913581848145,
                "transform": {
                    "location": {
                        "x": -1255.57080078125,
                        "y": 3097.0361328125,
                        "z": 348.2364501953125
                    },
                    "rotation": {
                        "roll": 0.024603785946965218,
                        "pitch": 3.174623966217041,
                        "yaw": -1.0218812227249146
                    }
                },
                "velocity": {
                    "x": 7.706501483917236,
                    "y": -0.14067493379116058,
                    "z": 0.36855369806289673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046028137207031,
                "transform": {
                    "location": {
                        "x": -1252.34765625,
                        "y": 3100.475830078125,
                        "z": 348.3945617675781
                    },
                    "rotation": {
                        "roll": 0.016358081251382828,
                        "pitch": 2.8486874103546143,
                        "yaw": -1.1171568632125854
                    }
                },
                "velocity": {
                    "x": 8.034911155700684,
                    "y": -0.16022531688213348,
                    "z": 0.39126983284950256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.027681350708008,
                "transform": {
                    "location": {
                        "x": -1212.8958740234375,
                        "y": 3106.60595703125,
                        "z": 350.40631103515625
                    },
                    "rotation": {
                        "roll": 0.0015192613936960697,
                        "pitch": 3.0901618003845215,
                        "yaw": -1.236663579940796
                    }
                },
                "velocity": {
                    "x": 8.013982772827148,
                    "y": -0.17498500645160675,
                    "z": 0.43489423394203186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.780126094818115,
                "transform": {
                    "location": {
                        "x": -1212.745849609375,
                        "y": 3103.10205078125,
                        "z": 350.4104919433594
                    },
                    "rotation": {
                        "roll": 0.006539423018693924,
                        "pitch": 3.1026883125305176,
                        "yaw": -1.2467347383499146
                    }
                },
                "velocity": {
                    "x": 7.76682186126709,
                    "y": -0.17062394320964813,
                    "z": 0.4215787351131439
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.007064819335938,
                "transform": {
                    "location": {
                        "x": -1210.0772705078125,
                        "y": 3099.5439453125,
                        "z": 350.55877685546875
                    },
                    "rotation": {
                        "roll": 0.000892138050403446,
                        "pitch": 3.107722282409668,
                        "yaw": -1.26849365234375
                    }
                },
                "velocity": {
                    "x": 7.993340492248535,
                    "y": -0.17797653377056122,
                    "z": 0.4334864616394043
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.017890930175781,
                "transform": {
                    "location": {
                        "x": -1212.6221923828125,
                        "y": 3096.0986328125,
                        "z": 350.434326171875
                    },
                    "rotation": {
                        "roll": 0.0013980197254568338,
                        "pitch": 3.115713596343994,
                        "yaw": -1.2607423067092896
                    }
                },
                "velocity": {
                    "x": 8.00411319732666,
                    "y": -0.1759628802537918,
                    "z": 0.43564572930336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.3927001953125,
                        "y": 3076.14453125,
                        "z": 354.89361572265625
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5434,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.8900146484375,
                        "y": 3105.581787109375,
                        "z": 352.5707092285156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5433,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.6424560546875,
                        "y": 3102.069091796875,
                        "z": 352.5718688964844
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.7525634765625,
                        "y": 3098.589111328125,
                        "z": 352.5731506347656
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.8663330078125,
                        "y": 3095.0927734375,
                        "z": 352.5678405761719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.75048828125,
                        "y": 3077.135986328125,
                        "z": 353.2771301269531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.391218185424805,
                "transform": {
                    "location": {
                        "x": -1190.4798583984375,
                        "y": 3078.001220703125,
                        "z": 351.6395568847656
                    },
                    "rotation": {
                        "roll": 0.0023071072064340115,
                        "pitch": -2.8775243759155273,
                        "yaw": 178.70677185058594
                    }
                },
                "velocity": {
                    "x": -16.3663330078125,
                    "y": 0.3682265877723694,
                    "z": -0.8243713974952698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.892105102539062,
                "transform": {
                    "location": {
                        "x": -1256.94873046875,
                        "y": 3079.48583984375,
                        "z": 348.1842041015625
                    },
                    "rotation": {
                        "roll": -0.00024413935898337513,
                        "pitch": -2.7128212451934814,
                        "yaw": 178.72036743164062
                    }
                },
                "velocity": {
                    "x": -15.870244026184082,
                    "y": 0.35647135972976685,
                    "z": -0.753184974193573
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45085906982422,
                "transform": {
                    "location": {
                        "x": -1287.091796875,
                        "y": 3080.1650390625,
                        "z": 346.9090881347656
                    },
                    "rotation": {
                        "roll": 0.0367279015481472,
                        "pitch": -2.113581418991089,
                        "yaw": 178.5928497314453
                    }
                },
                "velocity": {
                    "x": -16.434680938720703,
                    "y": 0.4073939323425293,
                    "z": -0.6050276756286621
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0002025365829468,
        "expert_target_speed": 20.0,
        "target_point": [
            50.741074393214625,
            0.06960757708775644
        ],
        "target_point_next": [
            101.75429214112094,
            -1.5874543393525908
        ]
    },
    "455": {
        "acceleration": [
            -0.34191131591796875,
            1.6887569427490234,
            -0.03125190734863281
        ],
        "angular_velocity": [
            1.834480881690979,
            -0.3467226028442383,
            -5.6824421882629395
        ],
        "forward_vector": [
            -0.9985080361366272,
            0.02613827772438526,
            -0.047943562269210815
        ],
        "right_vector": [
            -0.026019327342510223,
            -0.999656617641449,
            -0.0031035870779305696
        ],
        "location": [
            -1246.1495361328125,
            3079.64501953125,
            348.71295166015625
        ],
        "rotation": [
            0.1780274361371994,
            -2.7480170726776123,
            178.50048828125
        ],
        "velocity": [
            -24.06315040588379,
            0.593460738658905,
            -1.1830854415893555
        ],
        "speed": 24.070467446738853,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.783736228942871,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1260.915771484375,
                3079.57470703125,
                347.99725341796875
            ],
            "velocity": [
                -15.866718292236328,
                0.35370001196861267,
                -0.7471984624862671
            ],
            "speed_kmh": 57.19766267544242,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.9766845703125,
                        "y": 3074.705810546875,
                        "z": 356.45941162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.8743205070495605,
                "transform": {
                    "location": {
                        "x": -1293.659423828125,
                        "y": 3104.880126953125,
                        "z": 346.6502990722656
                    },
                    "rotation": {
                        "roll": 0.03396032750606537,
                        "pitch": 1.9953303337097168,
                        "yaw": -0.9661253094673157
                    }
                },
                "velocity": {
                    "x": 7.868369102478027,
                    "y": -0.13923527300357819,
                    "z": 0.27258744835853577
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.680658340454102,
                "transform": {
                    "location": {
                        "x": -1293.36181640625,
                        "y": 3097.8671875,
                        "z": 346.6683654785156
                    },
                    "rotation": {
                        "roll": 0.021977439522743225,
                        "pitch": 1.9909249544143677,
                        "yaw": -0.9604492783546448
                    }
                },
                "velocity": {
                    "x": 6.675572872161865,
                    "y": -0.11842776089906693,
                    "z": 0.23215672373771667
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.761233806610107,
                "transform": {
                    "location": {
                        "x": -1291.1773681640625,
                        "y": 3101.328125,
                        "z": 346.7447509765625
                    },
                    "rotation": {
                        "roll": 0.004905723035335541,
                        "pitch": 1.9915190935134888,
                        "yaw": -1.013946294784546
                    }
                },
                "velocity": {
                    "x": 7.755167007446289,
                    "y": -0.13863705098628998,
                    "z": 0.2737027108669281
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.2734375,
                        "y": 3075.427490234375,
                        "z": 355.8424072265625
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.948421001434326,
                "transform": {
                    "location": {
                        "x": -1252.5989990234375,
                        "y": 3107.47705078125,
                        "z": 348.3730773925781
                    },
                    "rotation": {
                        "roll": 0.01636788435280323,
                        "pitch": 2.8005549907684326,
                        "yaw": -1.0812987089157104
                    }
                },
                "velocity": {
                    "x": 7.937552452087402,
                    "y": -0.15154358744621277,
                    "z": 0.386901319026947
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.039204597473145,
                "transform": {
                    "location": {
                        "x": -1253.695556640625,
                        "y": 3104.000244140625,
                        "z": 348.3138122558594
                    },
                    "rotation": {
                        "roll": 0.012484760023653507,
                        "pitch": 2.786423444747925,
                        "yaw": -1.043304443359375
                    }
                },
                "velocity": {
                    "x": 8.028314590454102,
                    "y": -0.15646328032016754,
                    "z": 0.3879326581954956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.630090713500977,
                "transform": {
                    "location": {
                        "x": -1253.43408203125,
                        "y": 3096.99609375,
                        "z": 348.33892822265625
                    },
                    "rotation": {
                        "roll": 0.02636425569653511,
                        "pitch": 3.22001051902771,
                        "yaw": -1.0810548067092896
                    }
                },
                "velocity": {
                    "x": 8.618428230285645,
                    "y": -0.1697203367948532,
                    "z": 0.4151448607444763
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.797582149505615,
                "transform": {
                    "location": {
                        "x": -1250.3992919921875,
                        "y": 3100.436279296875,
                        "z": 348.4894714355469
                    },
                    "rotation": {
                        "roll": 0.00909140519797802,
                        "pitch": 2.7747299671173096,
                        "yaw": -1.1827696561813354
                    }
                },
                "velocity": {
                    "x": 7.786747455596924,
                    "y": -0.16079720854759216,
                    "z": 0.37814635038375854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.97145414352417,
                "transform": {
                    "location": {
                        "x": -1210.8980712890625,
                        "y": 3106.56201171875,
                        "z": 350.51470947265625
                    },
                    "rotation": {
                        "roll": 0.0016642448026686907,
                        "pitch": 3.0909268856048584,
                        "yaw": -1.2539061307907104
                    }
                },
                "velocity": {
                    "x": 7.957864284515381,
                    "y": -0.17419828474521637,
                    "z": 0.4314305782318115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.098489761352539,
                "transform": {
                    "location": {
                        "x": -1210.7738037109375,
                        "y": 3103.05908203125,
                        "z": 350.5172119140625
                    },
                    "rotation": {
                        "roll": 0.003345032222568989,
                        "pitch": 3.2033653259277344,
                        "yaw": -1.2532957792282104
                    }
                },
                "velocity": {
                    "x": 8.0846586227417,
                    "y": -0.1768806427717209,
                    "z": 0.4387969970703125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.969183921813965,
                "transform": {
                    "location": {
                        "x": -1208.084228515625,
                        "y": 3099.49951171875,
                        "z": 350.66754150390625
                    },
                    "rotation": {
                        "roll": 0.0013333926908671856,
                        "pitch": 3.135514259338379,
                        "yaw": -1.272247314453125
                    }
                },
                "velocity": {
                    "x": 7.955300807952881,
                    "y": -0.1766194850206375,
                    "z": 0.4357592761516571
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049196243286133,
                "transform": {
                    "location": {
                        "x": -1210.6148681640625,
                        "y": 3096.05419921875,
                        "z": 350.54296875
                    },
                    "rotation": {
                        "roll": 0.002071839990094304,
                        "pitch": 3.151517391204834,
                        "yaw": -1.2695311307907104
                    }
                },
                "velocity": {
                    "x": 8.03546142578125,
                    "y": -0.1775442510843277,
                    "z": 0.4352031648159027
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.54736328125,
                        "y": 3076.238037109375,
                        "z": 354.7430725097656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5432,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.6717529296875,
                        "y": 3098.526611328125,
                        "z": 352.6573486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5431,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.7855224609375,
                        "y": 3095.029541015625,
                        "z": 352.65325927734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.874755859375,
                        "y": 3077.22802734375,
                        "z": 353.1265869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.393259048461914,
                "transform": {
                    "location": {
                        "x": -1194.57080078125,
                        "y": 3078.093017578125,
                        "z": 351.43035888671875
                    },
                    "rotation": {
                        "roll": 0.00014593603555113077,
                        "pitch": -2.981595993041992,
                        "yaw": 178.7141876220703
                    }
                },
                "velocity": {
                    "x": -16.367115020751953,
                    "y": 0.36658143997192383,
                    "z": -0.8497821688652039
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.888239860534668,
                "transform": {
                    "location": {
                        "x": -1260.915771484375,
                        "y": 3079.57470703125,
                        "z": 347.99725341796875
                    },
                    "rotation": {
                        "roll": 0.0009391902713105083,
                        "pitch": -2.7049801349639893,
                        "yaw": 178.71127319335938
                    }
                },
                "velocity": {
                    "x": -15.866718292236328,
                    "y": 0.35370001196861267,
                    "z": -0.7471984624862671
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44782066345215,
                "transform": {
                    "location": {
                        "x": -1291.2005615234375,
                        "y": 3080.2705078125,
                        "z": 346.76190185546875
                    },
                    "rotation": {
                        "roll": 0.0566372312605381,
                        "pitch": -2.057983636856079,
                        "yaw": 178.44036865234375
                    }
                },
                "velocity": {
                    "x": -16.431543350219727,
                    "y": 0.4517800807952881,
                    "z": -0.5754043459892273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0003048181533813,
        "expert_target_speed": 20.0,
        "target_point": [
            44.73175847548132,
            0.5594134051516908
        ],
        "target_point_next": [
            95.75960512965321,
            -0.5600083333097579
        ]
    },
    "460": {
        "acceleration": [
            -0.7495498657226562,
            4.610185623168945,
            -0.01482248306274414
        ],
        "angular_velocity": [
            3.9882423877716064,
            -0.13139577209949493,
            -14.588248252868652
        ],
        "forward_vector": [
            -0.9962741732597351,
            0.07217727601528168,
            -0.04720446467399597
        ],
        "right_vector": [
            -0.07148340344429016,
            -0.9973098039627075,
            -0.01622794009745121
        ],
        "location": [
            -1252.1883544921875,
            3079.884033203125,
            348.41839599609375
        ],
        "rotation": [
            0.9308710694313049,
            -2.7056221961975098,
            175.8563232421875
        ],
        "velocity": [
            -24.246749877929688,
            1.4355294704437256,
            -1.1772924661636353
        ],
        "speed": 24.289207984275563,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.710859298706055,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1264.8829345703125,
                3079.662841796875,
                347.81451416015625
            ],
            "velocity": [
                -15.861686706542969,
                0.35136643052101135,
                -0.7066925168037415
            ],
            "speed_kmh": 57.17271266123287,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1329.7071533203125,
                        "y": 3102.96533203125,
                        "z": 346.1049499511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7391630411148071,
                        "yaw": -3.4558417797088623
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.1024169921875,
                        "y": 3074.79833984375,
                        "z": 356.3761291503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.807704925537109,
                "transform": {
                    "location": {
                        "x": -1291.700927734375,
                        "y": 3104.84423828125,
                        "z": 346.7190856933594
                    },
                    "rotation": {
                        "roll": 0.029495393857359886,
                        "pitch": 2.0133347511291504,
                        "yaw": -0.9150083661079407
                    }
                },
                "velocity": {
                    "x": 7.801388263702393,
                    "y": -0.14328747987747192,
                    "z": 0.27940869331359863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.125588893890381,
                "transform": {
                    "location": {
                        "x": -1291.74755859375,
                        "y": 3097.838134765625,
                        "z": 346.7248229980469
                    },
                    "rotation": {
                        "roll": 0.02330774813890457,
                        "pitch": 1.9880971908569336,
                        "yaw": -0.9332582950592041
                    }
                },
                "velocity": {
                    "x": 6.120743274688721,
                    "y": -0.1095225140452385,
                    "z": 0.21759366989135742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.176507949829102,
                "transform": {
                    "location": {
                        "x": -1289.2408447265625,
                        "y": 3101.29296875,
                        "z": 346.8140869140625
                    },
                    "rotation": {
                        "roll": 0.013502425514161587,
                        "pitch": 1.9995036125183105,
                        "yaw": -1.0428162813186646
                    }
                },
                "velocity": {
                    "x": 7.170676231384277,
                    "y": -0.13150350749492645,
                    "z": 0.25763654708862305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.4296875,
                        "y": 3075.5205078125,
                        "z": 355.7413635253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.972882270812988,
                "transform": {
                    "location": {
                        "x": -1250.6278076171875,
                        "y": 3107.438720703125,
                        "z": 348.4690856933594
                    },
                    "rotation": {
                        "roll": 0.012393110431730747,
                        "pitch": 2.803314447402954,
                        "yaw": -1.1137694120407104
                    }
                },
                "velocity": {
                    "x": 7.961930751800537,
                    "y": -0.1581006497144699,
                    "z": 0.38666969537734985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.872954368591309,
                "transform": {
                    "location": {
                        "x": -1251.73291015625,
                        "y": 3103.9619140625,
                        "z": 348.4090881347656
                    },
                    "rotation": {
                        "roll": 0.00855123158544302,
                        "pitch": 2.788055658340454,
                        "yaw": -1.134429931640625
                    }
                },
                "velocity": {
                    "x": 7.862024784088135,
                    "y": -0.1598115712404251,
                    "z": 0.382678747177124
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.121453285217285,
                "transform": {
                    "location": {
                        "x": -1251.3680419921875,
                        "y": 3096.954833984375,
                        "z": 348.44073486328125
                    },
                    "rotation": {
                        "roll": 0.01931554451584816,
                        "pitch": 2.831400156021118,
                        "yaw": -1.1588133573532104
                    }
                },
                "velocity": {
                    "x": 8.110154151916504,
                    "y": -0.16600343585014343,
                    "z": 0.3947843015193939
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.209407806396484,
                "transform": {
                    "location": {
                        "x": -1248.3851318359375,
                        "y": 3100.394287109375,
                        "z": 348.58740234375
                    },
                    "rotation": {
                        "roll": 0.008478468284010887,
                        "pitch": 2.8650660514831543,
                        "yaw": -1.1824949979782104
                    }
                },
                "velocity": {
                    "x": 8.197869300842285,
                    "y": -0.1730048954486847,
                    "z": 0.3992301821708679
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.016361236572266,
                "transform": {
                    "location": {
                        "x": -1208.9036865234375,
                        "y": 3106.518310546875,
                        "z": 350.62310791015625
                    },
                    "rotation": {
                        "roll": 0.0008831627201288939,
                        "pitch": 3.0987815856933594,
                        "yaw": -1.2596129179000854
                    }
                },
                "velocity": {
                    "x": 8.00245189666748,
                    "y": -0.17601852118968964,
                    "z": 0.43799230456352234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020166397094727,
                "transform": {
                    "location": {
                        "x": -1208.748291015625,
                        "y": 3103.0146484375,
                        "z": 350.62744140625
                    },
                    "rotation": {
                        "roll": 0.004420245997607708,
                        "pitch": 3.196453332901001,
                        "yaw": -1.2618101835250854
                    }
                },
                "velocity": {
                    "x": 8.00624942779541,
                    "y": -0.17747382819652557,
                    "z": 0.4376579225063324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.009635925292969,
                "transform": {
                    "location": {
                        "x": -1206.0899658203125,
                        "y": 3099.455322265625,
                        "z": 350.7768249511719
                    },
                    "rotation": {
                        "roll": -0.00030517764389514923,
                        "pitch": 3.159426689147949,
                        "yaw": -1.2760316133499146
                    }
                },
                "velocity": {
                    "x": 7.995521545410156,
                    "y": -0.17811381816864014,
                    "z": 0.44066122174263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04478645324707,
                "transform": {
                    "location": {
                        "x": -1208.60595703125,
                        "y": 3096.010009765625,
                        "z": 350.6523742675781
                    },
                    "rotation": {
                        "roll": 0.0006905629415996373,
                        "pitch": 3.1510188579559326,
                        "yaw": -1.268219232559204
                    }
                },
                "velocity": {
                    "x": 8.030773162841797,
                    "y": -0.17763303220272064,
                    "z": 0.4401361644268036
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.6719970703125,
                        "y": 3076.329833984375,
                        "z": 354.5926818847656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.968994140625,
                        "y": 3077.319580078125,
                        "z": 352.9761962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.396095275878906,
                "transform": {
                    "location": {
                        "x": -1198.66162109375,
                        "y": 3078.1845703125,
                        "z": 351.2140808105469
                    },
                    "rotation": {
                        "roll": -0.0012207006802782416,
                        "pitch": -3.11663556098938,
                        "yaw": 178.72412109375
                    }
                },
                "velocity": {
                    "x": -16.368253707885742,
                    "y": 0.36514419317245483,
                    "z": -0.882533609867096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.881309509277344,
                "transform": {
                    "location": {
                        "x": -1264.8829345703125,
                        "y": 3079.662841796875,
                        "z": 347.81451416015625
                    },
                    "rotation": {
                        "roll": -9.155071165878326e-05,
                        "pitch": -2.543787717819214,
                        "yaw": 178.73439025878906
                    }
                },
                "velocity": {
                    "x": -15.861686706542969,
                    "y": 0.35136643052101135,
                    "z": -0.7066925168037415
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.445133209228516,
                "transform": {
                    "location": {
                        "x": -1295.3089599609375,
                        "y": 3080.389404296875,
                        "z": 346.6203918457031
                    },
                    "rotation": {
                        "roll": 0.07114351540803909,
                        "pitch": -1.9659674167633057,
                        "yaw": 178.24359130859375
                    }
                },
                "velocity": {
                    "x": -16.428342819213867,
                    "y": 0.49552199244499207,
                    "z": -0.5535268783569336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9985938668251038,
        "expert_target_speed": 19.536285654420645,
        "target_point": [
            38.6180222715701,
            2.4244618425426214
        ],
        "target_point_next": [
            89.64318234074146,
            3.660293184457575
        ]
    },
    "465": {
        "acceleration": [
            -0.1378631591796875,
            6.961665153503418,
            0.17802715301513672
        ],
        "angular_velocity": [
            4.30262565612793,
            -0.19185203313827515,
            -20.116125106811523
        ],
        "forward_vector": [
            -0.9870455265045166,
            0.1539754420518875,
            -0.045085277408361435
        ],
        "right_vector": [
            -0.15242446959018707,
            -0.9876576066017151,
            -0.03604525700211525
        ],
        "location": [
            -1258.2667236328125,
            3080.42919921875,
            348.1258544921875
        ],
        "rotation": [
            2.0677921772003174,
            -2.5840721130371094,
            171.13352966308594
        ],
        "velocity": [
            -24.342525482177734,
            3.014518976211548,
            -1.1542105674743652
        ],
        "speed": 24.528470631256482,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.61404037475586,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1268.847900390625,
                3079.751220703125,
                347.6391296386719
            ],
            "velocity": [
                -15.85851764678955,
                0.3558952212333679,
                -0.7009995579719543
            ],
            "speed_kmh": 57.16077276332369,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1331.0731201171875,
                        "y": 3106.5556640625,
                        "z": 345.93182373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.769775927066803,
                        "yaw": -3.4219977855682373
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1331.50634765625,
                        "y": 3099.569091796875,
                        "z": 345.9325256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.769775927066803,
                        "yaw": -3.4219977855682373
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.6776123046875,
                        "y": 3102.846435546875,
                        "z": 345.8847961425781
                    },
                    "rotation": {
                        "roll": 1.667774807145861e-09,
                        "pitch": 0.9884649515151978,
                        "yaw": -3.180237054824829
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.2593994140625,
                        "y": 3074.89111328125,
                        "z": 356.31243896484375
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.025165557861328,
                "transform": {
                    "location": {
                        "x": -1289.798095703125,
                        "y": 3104.809814453125,
                        "z": 346.78765869140625
                    },
                    "rotation": {
                        "roll": 0.022185832262039185,
                        "pitch": 2.074690341949463,
                        "yaw": -1.0119932889938354
                    }
                },
                "velocity": {
                    "x": 7.019261360168457,
                    "y": -0.131729856133461,
                    "z": 0.25606104731559753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.910346508026123,
                "transform": {
                    "location": {
                        "x": -1290.271484375,
                        "y": 3097.81201171875,
                        "z": 346.77752685546875
                    },
                    "rotation": {
                        "roll": 0.018491076305508614,
                        "pitch": 2.0467071533203125,
                        "yaw": -0.9834288358688354
                    }
                },
                "velocity": {
                    "x": 5.90553092956543,
                    "y": -0.10660437494516373,
                    "z": 0.21339963376522064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.795675754547119,
                "transform": {
                    "location": {
                        "x": -1287.700927734375,
                        "y": 3101.262939453125,
                        "z": 346.87158203125
                    },
                    "rotation": {
                        "roll": 0.01617107167840004,
                        "pitch": 1.6736762523651123,
                        "yaw": -1.133819818496704
                    }
                },
                "velocity": {
                    "x": 5.790552616119385,
                    "y": -0.11747907102108002,
                    "z": 0.2134479433298111
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.5557861328125,
                        "y": 3075.612060546875,
                        "z": 355.6347961425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.094983100891113,
                "transform": {
                    "location": {
                        "x": -1248.611083984375,
                        "y": 3107.397705078125,
                        "z": 348.567138671875
                    },
                    "rotation": {
                        "roll": 0.008987323381006718,
                        "pitch": 2.816230297088623,
                        "yaw": -1.17352294921875
                    }
                },
                "velocity": {
                    "x": 8.083762168884277,
                    "y": -0.16683125495910645,
                    "z": 0.39204496145248413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.158843994140625,
                "transform": {
                    "location": {
                        "x": -1249.716796875,
                        "y": 3103.9208984375,
                        "z": 348.5070495605469
                    },
                    "rotation": {
                        "roll": 0.005491919349879026,
                        "pitch": 2.8023035526275635,
                        "yaw": -1.164275884628296
                    }
                },
                "velocity": {
                    "x": 8.14758014678955,
                    "y": -0.1653529852628708,
                    "z": 0.395382821559906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.22674560546875,
                "transform": {
                    "location": {
                        "x": -1249.4891357421875,
                        "y": 3096.916259765625,
                        "z": 348.53314208984375
                    },
                    "rotation": {
                        "roll": 0.012847387231886387,
                        "pitch": 2.5814425945281982,
                        "yaw": -1.184783935546875
                    }
                },
                "velocity": {
                    "x": 7.216618061065674,
                    "y": -0.1504301279783249,
                    "z": 0.3516395390033722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.925357818603516,
                "transform": {
                    "location": {
                        "x": -1246.3702392578125,
                        "y": 3100.35107421875,
                        "z": 348.68603515625
                    },
                    "rotation": {
                        "roll": 0.004666289780288935,
                        "pitch": 2.811326265335083,
                        "yaw": -1.2405701875686646
                    }
                },
                "velocity": {
                    "x": 7.9139885902404785,
                    "y": -0.17138881981372833,
                    "z": 0.3882102072238922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965660095214844,
                "transform": {
                    "location": {
                        "x": -1206.9095458984375,
                        "y": 3106.473876953125,
                        "z": 350.7322998046875
                    },
                    "rotation": {
                        "roll": 0.00029562701820395887,
                        "pitch": 3.131716728210449,
                        "yaw": -1.2752381563186646
                    }
                },
                "velocity": {
                    "x": 7.951736927032471,
                    "y": -0.1772114485502243,
                    "z": 0.4361402094364166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.936775207519531,
                "transform": {
                    "location": {
                        "x": -1206.767822265625,
                        "y": 3102.970458984375,
                        "z": 350.73602294921875
                    },
                    "rotation": {
                        "roll": 0.0016630521276965737,
                        "pitch": 3.1811468601226807,
                        "yaw": -1.2701414823532104
                    }
                },
                "velocity": {
                    "x": 7.92294454574585,
                    "y": -0.17562420666217804,
                    "z": 0.43417447805404663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.974743366241455,
                "transform": {
                    "location": {
                        "x": -1204.0955810546875,
                        "y": 3099.410888671875,
                        "z": 350.88677978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 3.154980421066284,
                        "yaw": -1.2801207304000854
                    }
                },
                "velocity": {
                    "x": 7.960644245147705,
                    "y": -0.17862926423549652,
                    "z": 0.43905287981033325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.006927490234375,
                "transform": {
                    "location": {
                        "x": -1206.6041259765625,
                        "y": 3095.96533203125,
                        "z": 350.7619934082031
                    },
                    "rotation": {
                        "roll": 0.0009918836876749992,
                        "pitch": 3.17893385887146,
                        "yaw": -1.2739869356155396
                    }
                },
                "velocity": {
                    "x": 7.992913722991943,
                    "y": -0.17783969640731812,
                    "z": 0.43885329365730286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1119.8272705078125,
                        "y": 3076.42236328125,
                        "z": 354.4411926269531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.063720703125,
                        "y": 3077.410888671875,
                        "z": 352.8197326660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.397613525390625,
                "transform": {
                    "location": {
                        "x": -1202.7535400390625,
                        "y": 3078.275634765625,
                        "z": 350.99139404296875
                    },
                    "rotation": {
                        "roll": -0.00027465898892842233,
                        "pitch": -3.1597888469696045,
                        "yaw": 178.72389221191406
                    }
                },
                "velocity": {
                    "x": -16.369173049926758,
                    "y": 0.3646451532840729,
                    "z": -0.8938433527946472
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.877992630004883,
                "transform": {
                    "location": {
                        "x": -1268.847900390625,
                        "y": 3079.751220703125,
                        "z": 347.6391296386719
                    },
                    "rotation": {
                        "roll": 0.0008674560813233256,
                        "pitch": -2.5428998470306396,
                        "yaw": 178.71974182128906
                    }
                },
                "velocity": {
                    "x": -15.85851764678955,
                    "y": 0.3558952212333679,
                    "z": -0.7009995579719543
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.443429946899414,
                "transform": {
                    "location": {
                        "x": -1299.416015625,
                        "y": 3080.522216796875,
                        "z": 346.48358154296875
                    },
                    "rotation": {
                        "roll": 0.07863567024469376,
                        "pitch": -1.9187297821044922,
                        "yaw": 178.0275115966797
                    }
                },
                "velocity": {
                    "x": -16.425052642822266,
                    "y": 0.557689905166626,
                    "z": -0.5413385033607483
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9977613091468811,
        "expert_target_speed": 18.030972724308512,
        "target_point": [
            32.19752224000685,
            5.197630678048601
        ],
        "target_point_next": [
            82.94768412721251,
            10.63042992085503
        ]
    },
    "470": {
        "acceleration": [
            0.380859375,
            5.781011581420898,
            0.20927190780639648
        ],
        "angular_velocity": [
            1.0205570459365845,
            1.1375240087509155,
            -10.847736358642578
        ],
        "forward_vector": [
            -0.9744242429733276,
            0.22064730525016785,
            -0.04257047548890114
        ],
        "right_vector": [
            -0.21868745982646942,
            -0.9746971726417542,
            -0.04627472162246704
        ],
        "location": [
            -1264.351318359375,
            3081.384521484375,
            347.8409423828125
        ],
        "rotation": [
            2.6547017097473145,
            -2.4398458003997803,
            167.24118041992188
        ],
        "velocity": [
            -24.29636001586914,
            4.602870464324951,
            -1.1112831830978394
        ],
        "speed": 24.72851646443999,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.609711647033691,
        "front_vehicle_info": {
            "id": 5397,
            "type": "vehicle.audi.tt",
            "location": [
                -1272.813232421875,
                3079.84033203125,
                347.4686279296875
            ],
            "velocity": [
                -15.85493278503418,
                0.3569760322570801,
                -0.6592288017272949
            ],
            "speed_kmh": 57.14152753660734,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1329.001708984375,
                        "y": 3106.428955078125,
                        "z": 345.74639892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.769775927066803,
                        "yaw": -3.4219977855682373
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.438900947570801,
                "transform": {
                    "location": {
                        "x": -1329.4874267578125,
                        "y": 3099.44677734375,
                        "z": 345.754638671875
                    },
                    "rotation": {
                        "roll": -0.011169434525072575,
                        "pitch": 0.5790839195251465,
                        "yaw": -3.3859567642211914
                    }
                },
                "velocity": {
                    "x": 6.414915084838867,
                    "y": -0.36387771368026733,
                    "z": -0.4194096326828003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9484453201293945,
                "transform": {
                    "location": {
                        "x": -1325.6402587890625,
                        "y": 3102.73388671875,
                        "z": 345.80377197265625
                    },
                    "rotation": {
                        "roll": 0.027562495321035385,
                        "pitch": 0.9248485565185547,
                        "yaw": -3.021912097930908
                    }
                },
                "velocity": {
                    "x": 7.937838554382324,
                    "y": -0.3522414565086365,
                    "z": -0.21078474819660187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.416748046875,
                        "y": 3074.98388671875,
                        "z": 356.24249267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.651113033294678,
                "transform": {
                    "location": {
                        "x": -1288.122802734375,
                        "y": 3104.7783203125,
                        "z": 346.8487548828125
                    },
                    "rotation": {
                        "roll": 0.01159090269356966,
                        "pitch": 2.1069767475128174,
                        "yaw": -1.1058958768844604
                    }
                },
                "velocity": {
                    "x": 6.645216941833496,
                    "y": -0.13373228907585144,
                    "z": 0.24599416553974152
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.6366400718688965,
                "transform": {
                    "location": {
                        "x": -1288.7144775390625,
                        "y": 3097.783935546875,
                        "z": 346.83294677734375
                    },
                    "rotation": {
                        "roll": 0.013695355504751205,
                        "pitch": 2.131688356399536,
                        "yaw": -1.0539244413375854
                    }
                },
                "velocity": {
                    "x": 6.630980014801025,
                    "y": -0.12806759774684906,
                    "z": 0.24227513372898102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.9578094482421875,
                "transform": {
                    "location": {
                        "x": -1286.253173828125,
                        "y": 3101.23388671875,
                        "z": 346.9240417480469
                    },
                    "rotation": {
                        "roll": 0.010910146869719028,
                        "pitch": 1.970359206199646,
                        "yaw": -1.1783447265625
                    }
                },
                "velocity": {
                    "x": 5.952425479888916,
                    "y": -0.11931569129228592,
                    "z": 0.22334958612918854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.7125244140625,
                        "y": 3075.705322265625,
                        "z": 355.5210876464844
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.974036693572998,
                "transform": {
                    "location": {
                        "x": -1246.6083984375,
                        "y": 3107.35595703125,
                        "z": 348.6650390625
                    },
                    "rotation": {
                        "roll": 0.006594123784452677,
                        "pitch": 2.8191604614257812,
                        "yaw": -1.1886292695999146
                    }
                },
                "velocity": {
                    "x": 7.9626946449279785,
                    "y": -0.16760753095149994,
                    "z": 0.3907184600830078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.928014755249023,
                "transform": {
                    "location": {
                        "x": -1247.711669921875,
                        "y": 3103.87939453125,
                        "z": 348.6047668457031
                    },
                    "rotation": {
                        "roll": 0.005525737069547176,
                        "pitch": 2.788062572479248,
                        "yaw": -1.195098876953125
                    }
                },
                "velocity": {
                    "x": 7.91672945022583,
                    "y": -0.16904820501804352,
                    "z": 0.3875998556613922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.788362503051758,
                "transform": {
                    "location": {
                        "x": -1247.63232421875,
                        "y": 3096.877197265625,
                        "z": 348.6226501464844
                    },
                    "rotation": {
                        "roll": 0.010228129103779793,
                        "pitch": 2.8762266635894775,
                        "yaw": -1.2137755155563354
                    }
                },
                "velocity": {
                    "x": 7.777215957641602,
                    "y": -0.16717590391635895,
                    "z": 0.3815218210220337
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01339054107666,
                "transform": {
                    "location": {
                        "x": -1244.3902587890625,
                        "y": 3100.30859375,
                        "z": 348.7835388183594
                    },
                    "rotation": {
                        "roll": 0.0038198635447770357,
                        "pitch": 2.8615143299102783,
                        "yaw": -1.2255858182907104
                    }
                },
                "velocity": {
                    "x": 8.001687049865723,
                    "y": -0.17312593758106232,
                    "z": 0.3968113660812378
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023033142089844,
                "transform": {
                    "location": {
                        "x": -1204.913818359375,
                        "y": 3106.429931640625,
                        "z": 350.8420715332031
                    },
                    "rotation": {
                        "roll": 0.0010270068887621164,
                        "pitch": 3.1394827365875244,
                        "yaw": -1.2659608125686646
                    }
                },
                "velocity": {
                    "x": 8.009002685546875,
                    "y": -0.1768551468849182,
                    "z": 0.4400566816329956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059904098510742,
                "transform": {
                    "location": {
                        "x": -1204.7664794921875,
                        "y": 3102.92626953125,
                        "z": 350.84600830078125
                    },
                    "rotation": {
                        "roll": 0.002239162800833583,
                        "pitch": 3.243328809738159,
                        "yaw": -1.27685546875
                    }
                },
                "velocity": {
                    "x": 8.0457181930542,
                    "y": -0.17945073544979095,
                    "z": 0.4430190324783325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.009047508239746,
                "transform": {
                    "location": {
                        "x": -1202.1009521484375,
                        "y": 3099.3662109375,
                        "z": 350.9964904785156
                    },
                    "rotation": {
                        "roll": -0.0008544903248548508,
                        "pitch": 3.145083427429199,
                        "yaw": -1.282928228378296
                    }
                },
                "velocity": {
                    "x": 7.995240211486816,
                    "y": -0.178926020860672,
                    "z": 0.43469899892807007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055432319641113,
                "transform": {
                    "location": {
                        "x": -1204.5992431640625,
                        "y": 3095.920654296875,
                        "z": 350.87237548828125
                    },
                    "rotation": {
                        "roll": 0.0005189460352994502,
                        "pitch": 3.1927921772003174,
                        "yaw": -1.2779541015625
                    }
                },
                "velocity": {
                    "x": 8.041234970092773,
                    "y": -0.1793356090784073,
                    "z": 0.44312766194343567
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.9527587890625,
                        "y": 3076.514892578125,
                        "z": 354.2908020019531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.188720703125,
                        "y": 3077.502685546875,
                        "z": 352.6544189453125
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.398160934448242,
                "transform": {
                    "location": {
                        "x": -1206.845703125,
                        "y": 3078.3671875,
                        "z": 350.7658996582031
                    },
                    "rotation": {
                        "roll": -0.00024414018844254315,
                        "pitch": -3.173886299133301,
                        "yaw": 178.72010803222656
                    }
                },
                "velocity": {
                    "x": -16.369165420532227,
                    "y": 0.3646915853023529,
                    "z": -0.9039376378059387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.87264633178711,
                "transform": {
                    "location": {
                        "x": -1272.813232421875,
                        "y": 3079.84033203125,
                        "z": 347.4686279296875
                    },
                    "rotation": {
                        "roll": 0.0003507675719447434,
                        "pitch": -2.3770763874053955,
                        "yaw": 178.70860290527344
                    }
                },
                "velocity": {
                    "x": -15.85493278503418,
                    "y": 0.3569760322570801,
                    "z": -0.6592288017272949
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.442726135253906,
                "transform": {
                    "location": {
                        "x": -1303.52197265625,
                        "y": 3080.6689453125,
                        "z": 346.3482666015625
                    },
                    "rotation": {
                        "roll": 0.0904182568192482,
                        "pitch": -1.91403067111969,
                        "yaw": 177.82290649414062
                    }
                },
                "velocity": {
                    "x": -16.422391891479492,
                    "y": 0.6176756620407104,
                    "z": -0.5354950428009033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9995338320732117,
        "expert_target_speed": 15.665518973230075,
        "target_point": [
            25.62509323355199,
            6.9592359954322
        ],
        "target_point_next": [
            75.88940514209716,
            15.824515886710575
        ]
    },
    "475": {
        "acceleration": [
            -0.75714111328125,
            0.6248760223388672,
            0.3780937194824219
        ],
        "angular_velocity": [
            -4.779723167419434,
            1.942053198814392,
            7.122453689575195
        ],
        "forward_vector": [
            -0.9730899333953857,
            0.22672194242477417,
            -0.041146937757730484
        ],
        "right_vector": [
            -0.22536884248256683,
            -0.9736429452896118,
            -0.03504692390561104
        ],
        "location": [
            -1270.4296875,
            3082.64501953125,
            347.57073974609375
        ],
        "rotation": [
            2.010155200958252,
            -2.3582115173339844,
            166.88453674316406
        ],
        "velocity": [
            -24.36025619506836,
            5.290320873260498,
            -1.0541366338729858
        ],
        "speed": 24.92808811023064,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 119.57180786132812,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.95445442199707,
                "transform": {
                    "location": {
                        "x": -1326.9879150390625,
                        "y": 3106.32763671875,
                        "z": 345.74383544921875
                    },
                    "rotation": {
                        "roll": -0.034393310546875,
                        "pitch": 0.8446348309516907,
                        "yaw": -2.870147943496704
                    }
                },
                "velocity": {
                    "x": 7.943149089813232,
                    "y": -0.3792082369327545,
                    "z": 0.1895526498556137
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.064481258392334,
                "transform": {
                    "location": {
                        "x": -1327.94091796875,
                        "y": 3099.368896484375,
                        "z": 345.7469482421875
                    },
                    "rotation": {
                        "roll": -0.01318359375,
                        "pitch": 0.7022048830986023,
                        "yaw": -2.937775135040283
                    }
                },
                "velocity": {
                    "x": 6.056769847869873,
                    "y": -0.2943143844604492,
                    "z": 0.08280044049024582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.814244270324707,
                "transform": {
                    "location": {
                        "x": -1323.6729736328125,
                        "y": 3102.6494140625,
                        "z": 345.81353759765625
                    },
                    "rotation": {
                        "roll": 0.024140117689967155,
                        "pitch": 0.9850907921791077,
                        "yaw": -2.511932373046875
                    }
                },
                "velocity": {
                    "x": 7.806687355041504,
                    "y": -0.30743932723999023,
                    "z": 0.15338972210884094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1059.57421875,
                        "y": 3075.076904296875,
                        "z": 356.166748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.299715995788574,
                "transform": {
                    "location": {
                        "x": -1286.39111328125,
                        "y": 3104.74365234375,
                        "z": 346.9125671386719
                    },
                    "rotation": {
                        "roll": 0.005668526981025934,
                        "pitch": 2.1333959102630615,
                        "yaw": -1.188720703125
                    }
                },
                "velocity": {
                    "x": 7.2930588722229,
                    "y": -0.15262024104595184,
                    "z": 0.27175793051719666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.713945388793945,
                "transform": {
                    "location": {
                        "x": -1286.904296875,
                        "y": 3097.7490234375,
                        "z": 346.8995361328125
                    },
                    "rotation": {
                        "roll": 0.007924613542854786,
                        "pitch": 2.143941640853882,
                        "yaw": -1.1534423828125
                    }
                },
                "velocity": {
                    "x": 7.707152366638184,
                    "y": -0.1563614010810852,
                    "z": 0.28338223695755005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.953205108642578,
                "transform": {
                    "location": {
                        "x": -1284.447509765625,
                        "y": 3101.19677734375,
                        "z": 346.9900207519531
                    },
                    "rotation": {
                        "roll": 0.006498753093183041,
                        "pitch": 2.7096657752990723,
                        "yaw": -1.22052001953125
                    }
                },
                "velocity": {
                    "x": 7.945679664611816,
                    "y": -0.16701002418994904,
                    "z": 0.3029046058654785
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.8695068359375,
                        "y": 3075.79833984375,
                        "z": 355.4020080566406
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.036050796508789,
                "transform": {
                    "location": {
                        "x": -1244.6109619140625,
                        "y": 3107.3134765625,
                        "z": 348.76324462890625
                    },
                    "rotation": {
                        "roll": 0.0034350757487118244,
                        "pitch": 2.8548550605773926,
                        "yaw": -1.24066162109375
                    }
                },
                "velocity": {
                    "x": 8.024392127990723,
                    "y": -0.17293331027030945,
                    "z": 0.3966495394706726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06584358215332,
                "transform": {
                    "location": {
                        "x": -1245.7178955078125,
                        "y": 3103.837158203125,
                        "z": 348.7024841308594
                    },
                    "rotation": {
                        "roll": 0.00429285503923893,
                        "pitch": 2.8350133895874023,
                        "yaw": -1.2200928926467896
                    }
                },
                "velocity": {
                    "x": 8.054235458374023,
                    "y": -0.17408400774002075,
                    "z": 0.3959963023662567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.298420906066895,
                "transform": {
                    "location": {
                        "x": -1245.5838623046875,
                        "y": 3096.832763671875,
                        "z": 348.7224426269531
                    },
                    "rotation": {
                        "roll": 0.0064535122364759445,
                        "pitch": 3.073946952819824,
                        "yaw": -1.2385557889938354
                    }
                },
                "velocity": {
                    "x": 8.286457061767578,
                    "y": -0.17927956581115723,
                    "z": 0.4077793061733246
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.061973571777344,
                "transform": {
                    "location": {
                        "x": -1242.374755859375,
                        "y": 3100.2646484375,
                        "z": 348.8831481933594
                    },
                    "rotation": {
                        "roll": 0.0026798986364156008,
                        "pitch": 2.864403486251831,
                        "yaw": -1.2633056640625
                    }
                },
                "velocity": {
                    "x": 8.050148963928223,
                    "y": -0.17666029930114746,
                    "z": 0.3991326093673706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.9027099609375,
                        "y": 3106.375,
                        "z": 350.9524230957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 3.109067678451538,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.979793071746826,
                "transform": {
                    "location": {
                        "x": -1202.7647705078125,
                        "y": 3102.881591796875,
                        "z": 350.9563903808594
                    },
                    "rotation": {
                        "roll": 0.0006493789260275662,
                        "pitch": 3.2032015323638916,
                        "yaw": -1.277801513671875
                    }
                },
                "velocity": {
                    "x": 7.965728759765625,
                    "y": -0.17770619690418243,
                    "z": 0.43895986676216125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.09228515625,
                        "y": 3099.283935546875,
                        "z": 351.1084289550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 3.109067678451538,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.02026653289795,
                "transform": {
                    "location": {
                        "x": -1202.5931396484375,
                        "y": 3095.8759765625,
                        "z": 350.98297119140625
                    },
                    "rotation": {
                        "roll": -0.0006103474297560751,
                        "pitch": 3.1800880432128906,
                        "yaw": -1.275421142578125
                    }
                },
                "velocity": {
                    "x": 8.006253242492676,
                    "y": -0.1779131442308426,
                    "z": 0.43923383951187134
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.1085205078125,
                        "y": 3076.607666015625,
                        "z": 354.1392517089844
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.2833251953125,
                        "y": 3077.59423828125,
                        "z": 352.4844970703125
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39716148376465,
                "transform": {
                    "location": {
                        "x": -1210.9383544921875,
                        "y": 3078.458740234375,
                        "z": 350.54150390625
                    },
                    "rotation": {
                        "roll": -0.0015258773928508162,
                        "pitch": -3.1222569942474365,
                        "yaw": 178.72520446777344
                    }
                },
                "velocity": {
                    "x": -16.36888885498047,
                    "y": 0.36364638805389404,
                    "z": -0.891151487827301
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.870789527893066,
                "transform": {
                    "location": {
                        "x": -1276.776611328125,
                        "y": 3079.928955078125,
                        "z": 347.3045349121094
                    },
                    "rotation": {
                        "roll": -0.0014648443320766091,
                        "pitch": -2.384056806564331,
                        "yaw": 178.72232055664062
                    }
                },
                "velocity": {
                    "x": -15.853141784667969,
                    "y": 0.35590681433677673,
                    "z": -0.6581811904907227
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.439285278320312,
                "transform": {
                    "location": {
                        "x": -1307.6282958984375,
                        "y": 3080.82958984375,
                        "z": 346.2170715332031
                    },
                    "rotation": {
                        "roll": 0.10506908595561981,
                        "pitch": -1.7880204916000366,
                        "yaw": 177.63320922851562
                    }
                },
                "velocity": {
                    "x": -16.41779327392578,
                    "y": 0.6754774451255798,
                    "z": -0.49991461634635925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9995628595352173,
        "expert_target_speed": 12.504016671377808,
        "target_point": [
            19.375440035742447,
            6.9669593040575055
        ],
        "target_point_next": [
            69.58359542486114,
            16.144942285755263
        ]
    },
    "480": {
        "acceleration": [
            -1.5781402587890625,
            -3.7901782989501953,
            -0.04480600357055664
        ],
        "angular_velocity": [
            -6.266209602355957,
            1.0081729888916016,
            14.643699645996094
        ],
        "forward_vector": [
            -0.9839221239089966,
            0.1742444634437561,
            -0.03919372335076332
        ],
        "right_vector": [
            -0.17405544221401215,
            -0.9847016334533691,
            -0.00821096170693636
        ],
        "location": [
            -1276.5614013671875,
            3083.915771484375,
            347.3127136230469
        ],
        "rotation": [
            0.47082048654556274,
            -2.2462100982666016,
            169.95750427246094
        ],
        "velocity": [
            -24.693571090698242,
            4.738694667816162,
            -1.019400715827942
        ],
        "speed": 25.144138091534522,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 113.36978149414062,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.088309288024902,
                "transform": {
                    "location": {
                        "x": -1324.9833984375,
                        "y": 3106.2353515625,
                        "z": 345.78509521484375
                    },
                    "rotation": {
                        "roll": -0.011322022415697575,
                        "pitch": 0.9452639818191528,
                        "yaw": -2.633911609649658
                    }
                },
                "velocity": {
                    "x": 8.07863712310791,
                    "y": -0.3647923171520233,
                    "z": 0.15264233946800232
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.248447418212891,
                "transform": {
                    "location": {
                        "x": -1326.40087890625,
                        "y": 3099.29638671875,
                        "z": 345.7698059082031
                    },
                    "rotation": {
                        "roll": -0.001556395087391138,
                        "pitch": 0.9052322506904602,
                        "yaw": -2.7196662425994873
                    }
                },
                "velocity": {
                    "x": 6.241093635559082,
                    "y": -0.2887932062149048,
                    "z": 0.09191077947616577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.821081161499023,
                "transform": {
                    "location": {
                        "x": -1321.719970703125,
                        "y": 3102.564208984375,
                        "z": 345.8523254394531
                    },
                    "rotation": {
                        "roll": 0.007138652727007866,
                        "pitch": 1.116558313369751,
                        "yaw": -2.495850086212158
                    }
                },
                "velocity": {
                    "x": 7.811949729919434,
                    "y": -0.34521979093551636,
                    "z": 0.15353865921497345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.7015380859375,
                        "y": 3075.169189453125,
                        "z": 356.0886535644531
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.257898330688477,
                "transform": {
                    "location": {
                        "x": -1284.480712890625,
                        "y": 3104.70361328125,
                        "z": 346.98431396484375
                    },
                    "rotation": {
                        "roll": 0.01997540518641472,
                        "pitch": 2.2019436359405518,
                        "yaw": -1.2316282987594604
                    }
                },
                "velocity": {
                    "x": 8.24997615814209,
                    "y": -0.17514266073703766,
                    "z": 0.3163895606994629
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.744449615478516,
                "transform": {
                    "location": {
                        "x": -1284.879150390625,
                        "y": 3097.707763671875,
                        "z": 346.9754638671875
                    },
                    "rotation": {
                        "roll": 0.0031775771640241146,
                        "pitch": 2.2191898822784424,
                        "yaw": -1.198577880859375
                    }
                },
                "velocity": {
                    "x": 8.736177444458008,
                    "y": -0.18082404136657715,
                    "z": 0.33452504873275757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.257935523986816,
                "transform": {
                    "location": {
                        "x": -1282.3780517578125,
                        "y": 3101.153076171875,
                        "z": 347.07000732421875
                    },
                    "rotation": {
                        "roll": 0.00709633668884635,
                        "pitch": 2.6026365756988525,
                        "yaw": -1.1998900175094604
                    }
                },
                "velocity": {
                    "x": 8.2498140335083,
                    "y": -0.175111785531044,
                    "z": 0.32155629992485046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.02587890625,
                        "y": 3075.89111328125,
                        "z": 355.2744445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027510643005371,
                "transform": {
                    "location": {
                        "x": -1242.603515625,
                        "y": 3107.27001953125,
                        "z": 348.86248779296875
                    },
                    "rotation": {
                        "roll": 0.004109811503440142,
                        "pitch": 2.8484551906585693,
                        "yaw": -1.22442626953125
                    }
                },
                "velocity": {
                    "x": 8.015844345092773,
                    "y": -0.17399711906909943,
                    "z": 0.3961014449596405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00331974029541,
                "transform": {
                    "location": {
                        "x": -1243.708251953125,
                        "y": 3103.793701171875,
                        "z": 348.80169677734375
                    },
                    "rotation": {
                        "roll": 0.004129846580326557,
                        "pitch": 2.8382575511932373,
                        "yaw": -1.2358397245407104
                    }
                },
                "velocity": {
                    "x": 7.991659164428711,
                    "y": -0.17531786859035492,
                    "z": 0.3946917653083801
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.781824111938477,
                "transform": {
                    "location": {
                        "x": -1243.5875244140625,
                        "y": 3096.789306640625,
                        "z": 348.8220520019531
                    },
                    "rotation": {
                        "roll": 0.005405270494520664,
                        "pitch": 2.820225954055786,
                        "yaw": -1.2484130859375
                    }
                },
                "velocity": {
                    "x": 7.770482063293457,
                    "y": -0.170956552028656,
                    "z": 0.3836318850517273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.967459201812744,
                "transform": {
                    "location": {
                        "x": -1240.3782958984375,
                        "y": 3100.220458984375,
                        "z": 348.98187255859375
                    },
                    "rotation": {
                        "roll": 0.003268319647759199,
                        "pitch": 2.84077787399292,
                        "yaw": -1.2539061307907104
                    }
                },
                "velocity": {
                    "x": 7.9558281898498535,
                    "y": -0.17585967481136322,
                    "z": 0.392789363861084
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.824462890625,
                        "y": 3106.27783203125,
                        "z": 351.0647888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 3.109067678451538,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5438,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.687744140625,
                        "y": 3102.77490234375,
                        "z": 351.0733642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 3.109067678451538,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5437,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.015380859375,
                        "y": 3099.193115234375,
                        "z": 351.2228088378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9870738983154297,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5436,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.530517578125,
                        "y": 3095.768310546875,
                        "z": 351.09393310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 3.109067678451538,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.2642822265625,
                        "y": 3076.700439453125,
                        "z": 353.98773193359375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.4075927734375,
                        "y": 3077.686767578125,
                        "z": 352.3058166503906
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39676284790039,
                "transform": {
                    "location": {
                        "x": -1215.03076171875,
                        "y": 3078.549560546875,
                        "z": 350.31964111328125
                    },
                    "rotation": {
                        "roll": -0.00021362370171118528,
                        "pitch": -3.1219427585601807,
                        "yaw": 178.724365234375
                    }
                },
                "velocity": {
                    "x": -16.36866569519043,
                    "y": 0.3641737401485443,
                    "z": -0.8876886367797852
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.862235069274902,
                "transform": {
                    "location": {
                        "x": -1280.7401123046875,
                        "y": 3080.017822265625,
                        "z": 347.1452941894531
                    },
                    "rotation": {
                        "roll": 0.022638659924268723,
                        "pitch": -2.225487232208252,
                        "yaw": 178.7105712890625
                    }
                },
                "velocity": {
                    "x": -15.846224784851074,
                    "y": 0.3590860962867737,
                    "z": -0.6153962016105652
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.43311882019043,
                "transform": {
                    "location": {
                        "x": -1311.7337646484375,
                        "y": 3081.004638671875,
                        "z": 346.0978698730469
                    },
                    "rotation": {
                        "roll": 0.10182452201843262,
                        "pitch": -1.5891116857528687,
                        "yaw": 177.43942260742188
                    }
                },
                "velocity": {
                    "x": -16.4107608795166,
                    "y": 0.7342314124107361,
                    "z": -0.44185301661491394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0008095502853394,
        "expert_target_speed": 8.972198182973901,
        "target_point": [
            13.461704175380282,
            6.100310584113964
        ],
        "target_point_next": [
            64.08967629772069,
            12.573538370137229
        ]
    },
    "485": {
        "acceleration": [
            -1.1341476440429688,
            -6.065239906311035,
            0.06350278854370117
        ],
        "angular_velocity": [
            -4.790810585021973,
            0.3787425458431244,
            15.959980964660645
        ],
        "forward_vector": [
            -0.9936949610710144,
            0.10591254383325577,
            -0.03678111359477043
        ],
        "right_vector": [
            -0.10659561306238174,
            -0.9941548705101013,
            0.017129795625805855
        ],
        "location": [
            -1282.7867431640625,
            3084.939697265625,
            347.0653076171875
        ],
        "rotation": [
            -0.982177734375,
            -2.1078782081604004,
            173.91612243652344
        ],
        "velocity": [
            -25.061819076538086,
            3.4024107456207275,
            -0.967505693435669
        ],
        "speed": 25.291721457960186,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 107.0945816040039,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.845789909362793,
                "transform": {
                    "location": {
                        "x": -1322.994384765625,
                        "y": 3106.1455078125,
                        "z": 345.82281494140625
                    },
                    "rotation": {
                        "roll": 0.007214084267616272,
                        "pitch": 1.036023497581482,
                        "yaw": -2.5855712890625
                    }
                },
                "velocity": {
                    "x": 7.83625602722168,
                    "y": -0.35808345675468445,
                    "z": 0.14590266346931458
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.264495849609375,
                "transform": {
                    "location": {
                        "x": -1324.970947265625,
                        "y": 3099.2314453125,
                        "z": 345.7929992675781
                    },
                    "rotation": {
                        "roll": 0.005942533724009991,
                        "pitch": 0.8306124210357666,
                        "yaw": -2.615204334259033
                    }
                },
                "velocity": {
                    "x": 5.258347034454346,
                    "y": -0.23734085261821747,
                    "z": 0.09150546789169312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.742954254150391,
                "transform": {
                    "location": {
                        "x": -1319.8271484375,
                        "y": 3102.48046875,
                        "z": 345.89013671875
                    },
                    "rotation": {
                        "roll": 0.009201627224683762,
                        "pitch": 1.2319543361663818,
                        "yaw": -2.518371820449829
                    }
                },
                "velocity": {
                    "x": 6.734649658203125,
                    "y": -0.29999467730522156,
                    "z": 0.1480940580368042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.85888671875,
                        "y": 3075.26220703125,
                        "z": 356.00628662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.43207836151123,
                "transform": {
                    "location": {
                        "x": -1282.342529296875,
                        "y": 3104.65771484375,
                        "z": 347.06610107421875
                    },
                    "rotation": {
                        "roll": 0.024068033322691917,
                        "pitch": 2.2529172897338867,
                        "yaw": -1.2495423555374146
                    }
                },
                "velocity": {
                    "x": 8.4237642288208,
                    "y": -0.18203479051589966,
                    "z": 0.32712051272392273
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.249091148376465,
                "transform": {
                    "location": {
                        "x": -1282.752685546875,
                        "y": 3097.6630859375,
                        "z": 347.0570983886719
                    },
                    "rotation": {
                        "roll": 0.002354360418394208,
                        "pitch": 2.242029905319214,
                        "yaw": -1.226043701171875
                    }
                },
                "velocity": {
                    "x": 8.240948677062988,
                    "y": -0.17693988978862762,
                    "z": 0.32086485624313354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.771627902984619,
                "transform": {
                    "location": {
                        "x": -1280.3939208984375,
                        "y": 3101.1103515625,
                        "z": 347.1488952636719
                    },
                    "rotation": {
                        "roll": 0.006087927613407373,
                        "pitch": 2.2437102794647217,
                        "yaw": -1.24566650390625
                    }
                },
                "velocity": {
                    "x": 7.763893127441406,
                    "y": -0.1686244159936905,
                    "z": 0.30286645889282227
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.1517333984375,
                        "y": 3075.983154296875,
                        "z": 355.14154052734375
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01037883758545,
                "transform": {
                    "location": {
                        "x": -1240.6033935546875,
                        "y": 3107.22607421875,
                        "z": 348.9613342285156
                    },
                    "rotation": {
                        "roll": 0.00018860645650420338,
                        "pitch": 2.8461601734161377,
                        "yaw": -1.266692876815796
                    }
                },
                "velocity": {
                    "x": 7.998667240142822,
                    "y": -0.1759013682603836,
                    "z": 0.39566686749458313
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029510498046875,
                "transform": {
                    "location": {
                        "x": -1241.709716796875,
                        "y": 3103.750244140625,
                        "z": 348.9005432128906
                    },
                    "rotation": {
                        "roll": 0.0011867005378007889,
                        "pitch": 2.835259199142456,
                        "yaw": -1.251495122909546
                    }
                },
                "velocity": {
                    "x": 8.01781177520752,
                    "y": -0.17502622306346893,
                    "z": 0.3963536024093628
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0971040725708,
                "transform": {
                    "location": {
                        "x": -1241.6156005859375,
                        "y": 3096.74609375,
                        "z": 348.9192199707031
                    },
                    "rotation": {
                        "roll": 0.0035746991634368896,
                        "pitch": 2.9190382957458496,
                        "yaw": -1.2575987577438354
                    }
                },
                "velocity": {
                    "x": 8.085285186767578,
                    "y": -0.17868715524673462,
                    "z": 0.3991566300392151
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039180755615234,
                "transform": {
                    "location": {
                        "x": -1238.380126953125,
                        "y": 3100.17626953125,
                        "z": 349.0808410644531
                    },
                    "rotation": {
                        "roll": 0.0011204562615603209,
                        "pitch": 2.8738701343536377,
                        "yaw": -1.285613775253296
                    }
                },
                "velocity": {
                    "x": 8.027114868164062,
                    "y": -0.17922382056713104,
                    "z": 0.40216124057769775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.389404296875,
                        "y": 3076.792724609375,
                        "z": 353.8372497558594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.501220703125,
                        "y": 3077.7783203125,
                        "z": 352.1214294433594
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.395709991455078,
                "transform": {
                    "location": {
                        "x": -1219.1234130859375,
                        "y": 3078.640869140625,
                        "z": 350.0987548828125
                    },
                    "rotation": {
                        "roll": -0.0001831099798437208,
                        "pitch": -3.0674378871917725,
                        "yaw": 178.71568298339844
                    }
                },
                "velocity": {
                    "x": -16.368202209472656,
                    "y": 0.3661723732948303,
                    "z": -0.875890851020813
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.853529930114746,
                "transform": {
                    "location": {
                        "x": -1284.7008056640625,
                        "y": 3080.1083984375,
                        "z": 346.99249267578125
                    },
                    "rotation": {
                        "roll": 0.010088806971907616,
                        "pitch": -2.208405017852783,
                        "yaw": 178.67019653320312
                    }
                },
                "velocity": {
                    "x": -15.837932586669922,
                    "y": 0.3663311302661896,
                    "z": -0.6000899076461792
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.427343368530273,
                "transform": {
                    "location": {
                        "x": -1315.8372802734375,
                        "y": 3081.193115234375,
                        "z": 345.9925842285156
                    },
                    "rotation": {
                        "roll": 0.07275170087814331,
                        "pitch": -1.4202830791473389,
                        "yaw": 177.2748565673828
                    }
                },
                "velocity": {
                    "x": -16.404430389404297,
                    "y": 0.7748656272888184,
                    "z": -0.3896750509738922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0012619495391846,
        "expert_target_speed": 6.262217491380516,
        "target_point": [
            7.551928032634775,
            5.51479026293138
        ],
        "target_point_next": [
            58.505995804336244,
            8.47742704577761
        ]
    },
    "490": {
        "acceleration": [
            -0.41996002197265625,
            -6.742660999298096,
            0.25393009185791016
        ],
        "angular_velocity": [
            -2.8134701251983643,
            0.20171968638896942,
            15.666759490966797
        ],
        "forward_vector": [
            -0.9987660646438599,
            0.03498563542962074,
            -0.0352453850209713
        ],
        "right_vector": [
            -0.03618225082755089,
            -0.9987698793411255,
            0.03390534222126007
        ],
        "location": [
            -1289.0738525390625,
            3085.585205078125,
            346.8294982910156
        ],
        "rotation": [
            -1.9442138671875,
            -2.0198302268981934,
            177.9938201904297
        ],
        "velocity": [
            -25.211000442504883,
            1.7464090585708618,
            -0.9115937352180481
        ],
        "speed": 25.27141642076755,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 100.78050231933594,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1364.63330078125,
                        "y": 3102.08251953125,
                        "z": 345.751708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.08102653175592422,
                        "yaw": -5.114473819732666
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1362.5682373046875,
                        "y": 3108.926513671875,
                        "z": 345.85772705078125
                    },
                    "rotation": {
                        "roll": 2.0844101444872365e-10,
                        "pitch": 0.07610196620225906,
                        "yaw": -4.872683048248291
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1360.8780517578125,
                        "y": 3105.2646484375,
                        "z": 345.70050048828125
                    },
                    "rotation": {
                        "roll": 2.0844101444872365e-10,
                        "pitch": 0.07610196620225906,
                        "yaw": -4.872683048248291
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.318025588989258,
                "transform": {
                    "location": {
                        "x": -1321.0321044921875,
                        "y": 3106.054931640625,
                        "z": 345.859375
                    },
                    "rotation": {
                        "roll": 0.010621893219649792,
                        "pitch": 1.0629891157150269,
                        "yaw": -2.644379138946533
                    }
                },
                "velocity": {
                    "x": 7.308740615844727,
                    "y": -0.3393867313861847,
                    "z": 0.14360560476779938
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.563296794891357,
                "transform": {
                    "location": {
                        "x": -1323.64794921875,
                        "y": 3099.171142578125,
                        "z": 345.81695556640625
                    },
                    "rotation": {
                        "roll": 0.011509642004966736,
                        "pitch": 1.0344115495681763,
                        "yaw": -2.594604969024658
                    }
                },
                "velocity": {
                    "x": 5.556482315063477,
                    "y": -0.2573155462741852,
                    "z": 0.09779956936836243
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.26685905456543,
                "transform": {
                    "location": {
                        "x": -1318.2413330078125,
                        "y": 3102.41064453125,
                        "z": 345.924560546875
                    },
                    "rotation": {
                        "roll": 0.005445356015115976,
                        "pitch": 1.3215663433074951,
                        "yaw": -2.565735101699829
                    }
                },
                "velocity": {
                    "x": 6.259053707122803,
                    "y": -0.28028348088264465,
                    "z": 0.13860957324504852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.9554443359375,
                        "y": 3075.353271484375,
                        "z": 355.918701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9999823570251465,
                "transform": {
                    "location": {
                        "x": -1280.296630859375,
                        "y": 3104.61328125,
                        "z": 347.1462707519531
                    },
                    "rotation": {
                        "roll": 0.019097205251455307,
                        "pitch": 2.2255897521972656,
                        "yaw": -1.26605224609375
                    }
                },
                "velocity": {
                    "x": 7.991911888122559,
                    "y": -0.17662112414836884,
                    "z": 0.3128344416618347
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9448418617248535,
                "transform": {
                    "location": {
                        "x": -1280.736572265625,
                        "y": 3097.61962890625,
                        "z": 347.1360168457031
                    },
                    "rotation": {
                        "roll": 0.0011764924274757504,
                        "pitch": 2.221928834915161,
                        "yaw": -1.25299072265625
                    }
                },
                "velocity": {
                    "x": 7.9369096755981445,
                    "y": -0.17292512953281403,
                    "z": 0.3099602162837982
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.1273775100708,
                "transform": {
                    "location": {
                        "x": -1278.4134521484375,
                        "y": 3101.067626953125,
                        "z": 347.2259826660156
                    },
                    "rotation": {
                        "roll": 0.005592054687440395,
                        "pitch": 2.352269172668457,
                        "yaw": -1.2239989042282104
                    }
                },
                "velocity": {
                    "x": 8.119003295898438,
                    "y": -0.1755390167236328,
                    "z": 0.324389785528183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.2772216796875,
                        "y": 3076.0751953125,
                        "z": 355.0024108886719
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02970027923584,
                "transform": {
                    "location": {
                        "x": -1238.6004638671875,
                        "y": 3107.18212890625,
                        "z": 349.0603332519531
                    },
                    "rotation": {
                        "roll": 0.0013753327075392008,
                        "pitch": 2.8499372005462646,
                        "yaw": -1.244415283203125
                    }
                },
                "velocity": {
                    "x": 8.017899513244629,
                    "y": -0.1770593374967575,
                    "z": 0.39752182364463806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.007750511169434,
                "transform": {
                    "location": {
                        "x": -1239.7071533203125,
                        "y": 3103.706298828125,
                        "z": 348.99945068359375
                    },
                    "rotation": {
                        "roll": 0.001533179427497089,
                        "pitch": 2.8375678062438965,
                        "yaw": -1.2610777616500854
                    }
                },
                "velocity": {
                    "x": 7.996057033538818,
                    "y": -0.17760203778743744,
                    "z": 0.394459068775177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027566909790039,
                "transform": {
                    "location": {
                        "x": -1239.5885009765625,
                        "y": 3096.701171875,
                        "z": 349.0193786621094
                    },
                    "rotation": {
                        "roll": 0.0034045607317239046,
                        "pitch": 2.904592514038086,
                        "yaw": -1.2653504610061646
                    }
                },
                "velocity": {
                    "x": 8.015820503234863,
                    "y": -0.1780949980020523,
                    "z": 0.3959008753299713
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012639999389648,
                "transform": {
                    "location": {
                        "x": -1236.3740234375,
                        "y": 3100.131591796875,
                        "z": 349.18157958984375
                    },
                    "rotation": {
                        "roll": 0.0013028514804318547,
                        "pitch": 2.9305129051208496,
                        "yaw": -1.2635191679000854
                    }
                },
                "velocity": {
                    "x": 8.000527381896973,
                    "y": -0.17844149470329285,
                    "z": 0.40264037251472473
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.5145263671875,
                        "y": 3076.884521484375,
                        "z": 353.6868591308594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.62451171875,
                        "y": 3077.870361328125,
                        "z": 351.92791748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.394529342651367,
                "transform": {
                    "location": {
                        "x": -1223.215576171875,
                        "y": 3078.732421875,
                        "z": 349.8825988769531
                    },
                    "rotation": {
                        "roll": 0.0006570135592482984,
                        "pitch": -3.0245306491851807,
                        "yaw": 178.7189178466797
                    }
                },
                "velocity": {
                    "x": -16.367958068847656,
                    "y": 0.36592337489128113,
                    "z": -0.8582608699798584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.843315124511719,
                "transform": {
                    "location": {
                        "x": -1288.6597900390625,
                        "y": 3080.20458984375,
                        "z": 346.8467102050781
                    },
                    "rotation": {
                        "roll": 0.0033387443982064724,
                        "pitch": -2.0581612586975098,
                        "yaw": 178.5321807861328
                    }
                },
                "velocity": {
                    "x": -15.827826499938965,
                    "y": 0.4086509644985199,
                    "z": -0.5688120126724243
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.421371459960938,
                "transform": {
                    "location": {
                        "x": -1319.9390869140625,
                        "y": 3081.395263671875,
                        "z": 345.8996887207031
                    },
                    "rotation": {
                        "roll": 0.07789570838212967,
                        "pitch": -1.240020751953125,
                        "yaw": 177.06788635253906
                    }
                },
                "velocity": {
                    "x": -16.396717071533203,
                    "y": 0.83316969871521,
                    "z": -0.3390662670135498
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.999905526638031,
        "expert_target_speed": 7.488130833594834,
        "target_point": [
            52.65485842544387,
            4.720693104788499
        ],
        "target_point_next": [
            84.08648142376981,
            3.224643546486276
        ]
    },
    "495": {
        "acceleration": [
            -0.2477264404296875,
            -5.177377700805664,
            0.1452779769897461
        ],
        "angular_velocity": [
            0.24400748312473297,
            0.1363082230091095,
            9.292277336120605
        ],
        "forward_vector": [
            -0.9991965293884277,
            -0.02209215797483921,
            -0.03344042971730232
        ],
        "right_vector": [
            0.020765239372849464,
            -0.9990029335021973,
            0.03952030465006828
        ],
        "location": [
            -1295.38623046875,
            3085.827392578125,
            346.60955810546875
        ],
        "rotation": [
            -2.266204595565796,
            -1.9163528680801392,
            -178.7333984375
        ],
        "velocity": [
            -25.28226661682129,
            0.2427883893251419,
            -0.8534714579582214
        ],
        "speed": 25.283432351760062,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 4,
        "distance_to_front_vehicle": 94.34098052978516,
        "front_vehicle_info": {
            "id": 5399,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -1389.367431640625,
                3094.00927734375,
                345.70849609375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1362.5828857421875,
                        "y": 3101.901611328125,
                        "z": 345.5819396972656
                    },
                    "rotation": {
                        "roll": 2.0844101444872365e-10,
                        "pitch": 0.07610196620225906,
                        "yaw": -4.872683048248291
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1360.499755859375,
                        "y": 3108.745849609375,
                        "z": 345.6833190917969
                    },
                    "rotation": {
                        "roll": 2.0844101444872365e-10,
                        "pitch": 0.07610196620225906,
                        "yaw": -4.872683048248291
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.188887596130371,
                "transform": {
                    "location": {
                        "x": -1358.8309326171875,
                        "y": 3105.08935546875,
                        "z": 345.5228576660156
                    },
                    "rotation": {
                        "roll": -0.008026122115552425,
                        "pitch": 0.004323509521782398,
                        "yaw": -4.773226261138916
                    }
                },
                "velocity": {
                    "x": 8.153191566467285,
                    "y": -0.6326567530632019,
                    "z": -0.42788657546043396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.297332763671875,
                "transform": {
                    "location": {
                        "x": -1319.39453125,
                        "y": 3105.978759765625,
                        "z": 345.89361572265625
                    },
                    "rotation": {
                        "roll": 0.0075327083468437195,
                        "pitch": 1.022007942199707,
                        "yaw": -2.688477039337158
                    }
                },
                "velocity": {
                    "x": 6.288987159729004,
                    "y": -0.2946285307407379,
                    "z": 0.1350230574607849
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.201132774353027,
                "transform": {
                    "location": {
                        "x": -1322.1251220703125,
                        "y": 3099.1005859375,
                        "z": 345.84442138671875
                    },
                    "rotation": {
                        "roll": 0.011051127687096596,
                        "pitch": 1.3579097986221313,
                        "yaw": -2.670227289199829
                    }
                },
                "velocity": {
                    "x": 7.192028522491455,
                    "y": -0.3367099165916443,
                    "z": 0.13292904198169708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.850820064544678,
                "transform": {
                    "location": {
                        "x": -1316.615966796875,
                        "y": 3102.337646484375,
                        "z": 345.96136474609375
                    },
                    "rotation": {
                        "roll": 0.005483744200319052,
                        "pitch": 1.2651149034500122,
                        "yaw": -2.536713123321533
                    }
                },
                "velocity": {
                    "x": 6.842224597930908,
                    "y": -0.3056180477142334,
                    "z": 0.1558849811553955
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.11181640625,
                        "y": 3075.4462890625,
                        "z": 355.8231506347656
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.875736236572266,
                "transform": {
                    "location": {
                        "x": -1278.321044921875,
                        "y": 3104.569580078125,
                        "z": 347.2239685058594
                    },
                    "rotation": {
                        "roll": 0.009105045348405838,
                        "pitch": 2.263633966445923,
                        "yaw": -1.283355712890625
                    }
                },
                "velocity": {
                    "x": 7.867316722869873,
                    "y": -0.1744619756937027,
                    "z": 0.31954601407051086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.856020927429199,
                "transform": {
                    "location": {
                        "x": -1278.769775390625,
                        "y": 3097.576416015625,
                        "z": 347.2126770019531
                    },
                    "rotation": {
                        "roll": 0.001296226168051362,
                        "pitch": 2.2355823516845703,
                        "yaw": -1.271697998046875
                    }
                },
                "velocity": {
                    "x": 7.847796440124512,
                    "y": -0.17430956661701202,
                    "z": 0.31428536772727966
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01590633392334,
                "transform": {
                    "location": {
                        "x": -1276.384765625,
                        "y": 3101.0234375,
                        "z": 347.3078918457031
                    },
                    "rotation": {
                        "roll": 0.0031389668583869934,
                        "pitch": 2.4214794635772705,
                        "yaw": -1.266235113143921
                    }
                },
                "velocity": {
                    "x": 8.00733757019043,
                    "y": -0.1762102246284485,
                    "z": 0.325967937707901
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.402099609375,
                        "y": 3076.167724609375,
                        "z": 354.8572692871094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.017327308654785,
                "transform": {
                    "location": {
                        "x": -1236.59716796875,
                        "y": 3107.137451171875,
                        "z": 349.16082763671875
                    },
                    "rotation": {
                        "roll": 0.0009835059754550457,
                        "pitch": 2.915302276611328,
                        "yaw": -1.2880553007125854
                    }
                },
                "velocity": {
                    "x": 8.005256652832031,
                    "y": -0.17944113910198212,
                    "z": 0.4014962613582611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03747844696045,
                "transform": {
                    "location": {
                        "x": -1237.7039794921875,
                        "y": 3103.661865234375,
                        "z": 349.0988464355469
                    },
                    "rotation": {
                        "roll": 0.0006925009656697512,
                        "pitch": 2.857313871383667,
                        "yaw": -1.2682799100875854
                    }
                },
                "velocity": {
                    "x": 8.025261878967285,
                    "y": -0.17760862410068512,
                    "z": 0.40581458806991577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.935281753540039,
                "transform": {
                    "location": {
                        "x": -1237.6068115234375,
                        "y": 3096.657470703125,
                        "z": 349.1182861328125
                    },
                    "rotation": {
                        "roll": 0.0025700880214571953,
                        "pitch": 2.883664846420288,
                        "yaw": -1.2651063203811646
                    }
                },
                "velocity": {
                    "x": 7.923279762268066,
                    "y": -0.1761070340871811,
                    "z": 0.39914458990097046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.004091262817383,
                "transform": {
                    "location": {
                        "x": -1234.376953125,
                        "y": 3100.087158203125,
                        "z": 349.2830505371094
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 2.949063777923584,
                        "yaw": -1.288512945175171
                    }
                },
                "velocity": {
                    "x": 7.991722106933594,
                    "y": -0.17773963510990143,
                    "z": 0.4077594578266144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.669677734375,
                        "y": 3076.977783203125,
                        "z": 353.53533935546875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.717041015625,
                        "y": 3077.96142578125,
                        "z": 351.7281494140625
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.394222259521484,
                "transform": {
                    "location": {
                        "x": -1227.3074951171875,
                        "y": 3078.823974609375,
                        "z": 349.6678466796875
                    },
                    "rotation": {
                        "roll": 0.0008935288642533123,
                        "pitch": -3.0215115547180176,
                        "yaw": 178.71788024902344
                    }
                },
                "velocity": {
                    "x": -16.3677978515625,
                    "y": 0.3661285638809204,
                    "z": -0.8553669452667236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.834834098815918,
                "transform": {
                    "location": {
                        "x": -1292.6162109375,
                        "y": 3080.3115234375,
                        "z": 346.7066345214844
                    },
                    "rotation": {
                        "roll": 0.02239040844142437,
                        "pitch": -1.9783027172088623,
                        "yaw": 178.34539794921875
                    }
                },
                "velocity": {
                    "x": -15.818671226501465,
                    "y": 0.4602501690387726,
                    "z": -0.547511100769043
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.415645599365234,
                "transform": {
                    "location": {
                        "x": -1324.038818359375,
                        "y": 3081.611083984375,
                        "z": 345.8194885253906
                    },
                    "rotation": {
                        "roll": 0.08762636035680771,
                        "pitch": -1.0598130226135254,
                        "yaw": 176.8528289794922
                    }
                },
                "velocity": {
                    "x": -16.388652801513672,
                    "y": 0.8955489993095398,
                    "z": -0.2888830304145813
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0019128322601318,
        "expert_target_speed": 10.523378759316813,
        "target_point": [
            46.53300114845047,
            2.0886262970469223
        ],
        "target_point_next": [
            77.82795324415169,
            -1.1993916344056563
        ]
    },
    "500": {
        "acceleration": [
            0.0800323486328125,
            -2.257523536682129,
            0.0028121471405029297
        ],
        "angular_velocity": [
            2.8636834621429443,
            -0.03885198011994362,
            0.203212171792984
        ],
        "forward_vector": [
            -0.9986994862556458,
            -0.03916357830166817,
            -0.032643359154462814
        ],
        "right_vector": [
            0.03814035281538963,
            -0.9987788796424866,
            0.03140018880367279
        ],
        "location": [
            -1301.713134765625,
            3085.771728515625,
            346.3995361328125
        ],
        "rotation": [
            -1.8003538846969604,
            -1.8706589937210083,
            -177.7543182373047
        ],
        "velocity": [
            -25.311918258666992,
            -0.602789580821991,
            -0.8328261375427246
        ],
        "speed": 25.319094794486375,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 88.14481353759766,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.666010856628418,
                "transform": {
                    "location": {
                        "x": -1360.65087890625,
                        "y": 3101.74658203125,
                        "z": 345.5115661621094
                    },
                    "rotation": {
                        "roll": -0.014068604446947575,
                        "pitch": -0.007998150773346424,
                        "yaw": -4.484072208404541
                    }
                },
                "velocity": {
                    "x": 7.645174503326416,
                    "y": -0.5548626780509949,
                    "z": -0.10563458502292633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.634956359863281,
                "transform": {
                    "location": {
                        "x": -1358.8868408203125,
                        "y": 3108.61279296875,
                        "z": 345.4823303222656
                    },
                    "rotation": {
                        "roll": -0.014251706190407276,
                        "pitch": -0.18383453786373138,
                        "yaw": -4.623567581176758
                    }
                },
                "velocity": {
                    "x": 4.624133586883545,
                    "y": -0.3146511912345886,
                    "z": -0.034667279571294785
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.945051193237305,
                "transform": {
                    "location": {
                        "x": -1356.8243408203125,
                        "y": 3104.935546875,
                        "z": 345.4999084472656
                    },
                    "rotation": {
                        "roll": -0.004089355003088713,
                        "pitch": 0.12812067568302155,
                        "yaw": -4.230348587036133
                    }
                },
                "velocity": {
                    "x": 7.924037456512451,
                    "y": -0.5758689641952515,
                    "z": 0.0428801067173481
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.938956260681152,
                "transform": {
                    "location": {
                        "x": -1317.791748046875,
                        "y": 3105.904052734375,
                        "z": 345.9277648925781
                    },
                    "rotation": {
                        "roll": 0.0020510300528258085,
                        "pitch": 1.3423302173614502,
                        "yaw": -2.668792963027954
                    }
                },
                "velocity": {
                    "x": 6.930025577545166,
                    "y": -0.3202662467956543,
                    "z": 0.1459082067012787
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.251341819763184,
                "transform": {
                    "location": {
                        "x": -1320.1668701171875,
                        "y": 3099.00927734375,
                        "z": 345.8832702636719
                    },
                    "rotation": {
                        "roll": 0.008314759470522404,
                        "pitch": 1.3600887060165405,
                        "yaw": -2.603668451309204
                    }
                },
                "velocity": {
                    "x": 8.240622520446777,
                    "y": -0.38309791684150696,
                    "z": 0.17324508726596832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.149062156677246,
                "transform": {
                    "location": {
                        "x": -1314.8077392578125,
                        "y": 3102.256591796875,
                        "z": 346.0059814453125
                    },
                    "rotation": {
                        "roll": 0.005345250014215708,
                        "pitch": 1.2755104303359985,
                        "yaw": -2.524445056915283
                    }
                },
                "velocity": {
                    "x": 8.138326644897461,
                    "y": -0.3639824092388153,
                    "z": 0.2058277130126953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1080.2376708984375,
                        "y": 3075.538330078125,
                        "z": 355.7212829589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.925845146179199,
                "transform": {
                    "location": {
                        "x": -1276.3492431640625,
                        "y": 3104.525634765625,
                        "z": 347.30364990234375
                    },
                    "rotation": {
                        "roll": -0.000579833285883069,
                        "pitch": 2.378476619720459,
                        "yaw": -1.2857662439346313
                    }
                },
                "velocity": {
                    "x": 7.917237281799316,
                    "y": -0.17702269554138184,
                    "z": 0.32409238815307617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988471984863281,
                "transform": {
                    "location": {
                        "x": -1276.7896728515625,
                        "y": 3097.53271484375,
                        "z": 347.2923889160156
                    },
                    "rotation": {
                        "roll": 1.1001646271324717e-05,
                        "pitch": 2.357487440109253,
                        "yaw": -1.279937744140625
                    }
                },
                "velocity": {
                    "x": 7.9798197746276855,
                    "y": -0.1776600182056427,
                    "z": 0.3264908492565155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.941995620727539,
                "transform": {
                    "location": {
                        "x": -1274.4034423828125,
                        "y": 3100.97998046875,
                        "z": 347.39007568359375
                    },
                    "rotation": {
                        "roll": 0.002889122348278761,
                        "pitch": 2.415544033050537,
                        "yaw": -1.2425843477249146
                    }
                },
                "velocity": {
                    "x": 7.93317174911499,
                    "y": -0.17290131747722626,
                    "z": 0.3319316804409027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.5267333984375,
                        "y": 3076.259521484375,
                        "z": 354.7073669433594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021371841430664,
                "transform": {
                    "location": {
                        "x": -1234.5953369140625,
                        "y": 3107.093017578125,
                        "z": 349.26220703125
                    },
                    "rotation": {
                        "roll": 0.0010406944202259183,
                        "pitch": 2.9456965923309326,
                        "yaw": -1.257354736328125
                    }
                },
                "velocity": {
                    "x": 8.008964538574219,
                    "y": -0.1773458868265152,
                    "z": 0.409189909696579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.995913505554199,
                "transform": {
                    "location": {
                        "x": -1235.703125,
                        "y": 3103.6171875,
                        "z": 349.19964599609375
                    },
                    "rotation": {
                        "roll": 0.00013781478628516197,
                        "pitch": 2.9325826168060303,
                        "yaw": -1.2778319120407104
                    }
                },
                "velocity": {
                    "x": 7.9835944175720215,
                    "y": -0.1782541573047638,
                    "z": 0.40629875659942627
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.061357498168945,
                "transform": {
                    "location": {
                        "x": -1235.6044921875,
                        "y": 3096.613037109375,
                        "z": 349.2189025878906
                    },
                    "rotation": {
                        "roll": 0.0009246824774891138,
                        "pitch": 3.0106585025787354,
                        "yaw": -1.2724609375
                    }
                },
                "velocity": {
                    "x": 8.0490083694458,
                    "y": -0.17878276109695435,
                    "z": 0.40863463282585144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026552200317383,
                "transform": {
                    "location": {
                        "x": -1232.3751220703125,
                        "y": 3100.04248046875,
                        "z": 349.3853454589844
                    },
                    "rotation": {
                        "roll": -0.0006408667541109025,
                        "pitch": 2.951399803161621,
                        "yaw": -1.2633970975875854
                    }
                },
                "velocity": {
                    "x": 8.014163970947266,
                    "y": -0.1776851862668991,
                    "z": 0.4088355302810669
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.763916015625,
                        "y": 3077.0693359375,
                        "z": 353.3860778808594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1192.80908203125,
                        "y": 3078.052978515625,
                        "z": 351.52154541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1231.4302978515625,
                        "y": 3078.916259765625,
                        "z": 349.4552307128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.827499389648438,
                "transform": {
                    "location": {
                        "x": -1296.5703125,
                        "y": 3080.430908203125,
                        "z": 346.5722961425781
                    },
                    "rotation": {
                        "roll": 0.016692737117409706,
                        "pitch": -1.9248974323272705,
                        "yaw": 178.1631317138672
                    }
                },
                "velocity": {
                    "x": -15.81032943725586,
                    "y": 0.5145847797393799,
                    "z": -0.5276665091514587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5389,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.409744262695312,
                "transform": {
                    "location": {
                        "x": -1328.13671875,
                        "y": 3081.841796875,
                        "z": 345.7519836425781
                    },
                    "rotation": {
                        "roll": 0.09030292928218842,
                        "pitch": -0.8807596564292908,
                        "yaw": 176.64984130859375
                    }
                },
                "velocity": {
                    "x": -16.380144119262695,
                    "y": 0.9557809233665466,
                    "z": -0.23886388540267944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0014034509658813,
        "expert_target_speed": 13.586820774657632,
        "target_point": [
            40.23767040124145,
            1.4854805551698544
        ],
        "target_point_next": [
            71.47186905351903,
            -2.3368123613724596
        ]
    },
    "505": {
        "acceleration": [
            0.30040740966796875,
            0.5075359344482422,
            0.5359292030334473
        ],
        "angular_velocity": [
            3.6628448963165283,
            1.3005903959274292,
            -3.8368351459503174
        ],
        "forward_vector": [
            -0.9990462064743042,
            -0.031048594042658806,
            -0.030703485012054443
        ],
        "right_vector": [
            0.03055029921233654,
            -0.9993959069252014,
            0.016567464917898178
        ],
        "location": [
            -1308.036865234375,
            3085.593017578125,
            346.1971435546875
        ],
        "rotation": [
            -0.9497371912002563,
            -1.7594566345214844,
            -178.2199249267578
        ],
        "velocity": [
            -25.261207580566406,
            -0.7554139494895935,
            -0.7635067701339722
        ],
        "speed": 25.2725000477505,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 81.84034729003906,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.584387302398682,
                "transform": {
                    "location": {
                        "x": -1358.749755859375,
                        "y": 3101.607666015625,
                        "z": 345.5005798339844
                    },
                    "rotation": {
                        "roll": -0.0057373046875,
                        "pitch": 0.027634944766759872,
                        "yaw": -4.143556594848633
                    }
                },
                "velocity": {
                    "x": 7.565450668334961,
                    "y": -0.5354880690574646,
                    "z": -0.012015237472951412
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.34771203994751,
                "transform": {
                    "location": {
                        "x": -1357.769775390625,
                        "y": 3108.533447265625,
                        "z": 345.4934387207031
                    },
                    "rotation": {
                        "roll": 0.0007254003430716693,
                        "pitch": -0.009739848785102367,
                        "yaw": -4.253419876098633
                    }
                },
                "velocity": {
                    "x": 4.336257457733154,
                    "y": -0.31173598766326904,
                    "z": 0.04785391688346863
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.117657661437988,
                "transform": {
                    "location": {
                        "x": -1354.8199462890625,
                        "y": 3104.78955078125,
                        "z": 345.51019287109375
                    },
                    "rotation": {
                        "roll": 0.00033626865479163826,
                        "pitch": 0.23258842527866364,
                        "yaw": -3.9445505142211914
                    }
                },
                "velocity": {
                    "x": 8.097498893737793,
                    "y": -0.5701806545257568,
                    "z": 0.04206709936261177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.50853157043457,
                "transform": {
                    "location": {
                        "x": -1315.7864990234375,
                        "y": 3105.8115234375,
                        "z": 345.9739074707031
                    },
                    "rotation": {
                        "roll": 0.0020243723411113024,
                        "pitch": 1.62318754196167,
                        "yaw": -2.639282703399658
                    }
                },
                "velocity": {
                    "x": 8.497065544128418,
                    "y": -0.39013198018074036,
                    "z": 0.20682275295257568
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06418514251709,
                "transform": {
                    "location": {
                        "x": -1318.11181640625,
                        "y": 3098.914306640625,
                        "z": 345.9263916015625
                    },
                    "rotation": {
                        "roll": 0.0029796671587973833,
                        "pitch": 1.3259445428848267,
                        "yaw": -2.511627435684204
                    }
                },
                "velocity": {
                    "x": 8.053972244262695,
                    "y": -0.3686041235923767,
                    "z": 0.169534832239151
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.363384246826172,
                "transform": {
                    "location": {
                        "x": -1312.681884765625,
                        "y": 3102.1630859375,
                        "z": 346.0584716796875
                    },
                    "rotation": {
                        "roll": 0.0064652543514966965,
                        "pitch": 1.4457255601882935,
                        "yaw": -2.466705083847046
                    }
                },
                "velocity": {
                    "x": 8.353011131286621,
                    "y": -0.35608187317848206,
                    "z": 0.21589574217796326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1084.4241943359375,
                        "y": 3075.632080078125,
                        "z": 355.6124572753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.009589195251465,
                "transform": {
                    "location": {
                        "x": -1274.3565673828125,
                        "y": 3104.481201171875,
                        "z": 347.3861999511719
                    },
                    "rotation": {
                        "roll": -0.0006103526684455574,
                        "pitch": 2.4025394916534424,
                        "yaw": -1.2832335233688354
                    }
                },
                "velocity": {
                    "x": 8.000577926635742,
                    "y": -0.17898520827293396,
                    "z": 0.3350251615047455
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972451686859131,
                "transform": {
                    "location": {
                        "x": -1274.7943115234375,
                        "y": 3097.48828125,
                        "z": 347.3743591308594
                    },
                    "rotation": {
                        "roll": 0.0007169693126343191,
                        "pitch": 2.4050939083099365,
                        "yaw": -1.27655029296875
                    }
                },
                "velocity": {
                    "x": 7.963514804840088,
                    "y": -0.17697665095329285,
                    "z": 0.33330604434013367
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072617530822754,
                "transform": {
                    "location": {
                        "x": -1272.3974609375,
                        "y": 3100.935546875,
                        "z": 347.4737854003906
                    },
                    "rotation": {
                        "roll": 0.0024575586430728436,
                        "pitch": 2.466080665588379,
                        "yaw": -1.282135009765625
                    }
                },
                "velocity": {
                    "x": 8.063576698303223,
                    "y": -0.1785559356212616,
                    "z": 0.3376471698284149
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.7421875,
                        "y": 3076.35400390625,
                        "z": 354.5537109375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.51611328125,
                        "y": 3107.0126953125,
                        "z": 349.3683776855469
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5442,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.644775390625,
                        "y": 3103.486083984375,
                        "z": 349.31304931640625
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5441,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.552490234375,
                        "y": 3096.550537109375,
                        "z": 349.32415771484375
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5440,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.2974853515625,
                        "y": 3099.92578125,
                        "z": 349.4903869628906
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.009521484375,
                        "y": 3077.164306640625,
                        "z": 353.2312316894531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.052001953125,
                        "y": 3078.147705078125,
                        "z": 351.3001403808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.673583984375,
                        "y": 3079.010498046875,
                        "z": 349.2392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.820841789245605,
                "transform": {
                    "location": {
                        "x": -1300.5220947265625,
                        "y": 3080.5625,
                        "z": 346.4411315917969
                    },
                    "rotation": {
                        "roll": 0.0034546104725450277,
                        "pitch": -1.898655891418457,
                        "yaw": 178.01760864257812
                    }
                },
                "velocity": {
                    "x": -15.803023338317871,
                    "y": 0.5402319431304932,
                    "z": -0.5211747884750366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9995847344398499,
        "expert_target_speed": 16.305300734392628,
        "target_point": [
            33.89804046387956,
            1.8302211235494514
        ],
        "target_point_next": [
            65.16226842955129,
            -1.7381311993438393
        ]
    },
    "510": {
        "acceleration": [
            0.6998825073242188,
            2.2853803634643555,
            0.4605734348297119
        ],
        "angular_velocity": [
            3.204343557357788,
            0.7067620158195496,
            -7.156389236450195
        ],
        "forward_vector": [
            -0.9996470212936401,
            -0.004669633228331804,
            -0.026154039427638054
        ],
        "right_vector": [
            0.00464871758595109,
            -0.999988853931427,
            0.0008604389731772244
        ],
        "location": [
            -1314.3359375,
            3085.453125,
            346.02056884765625
        ],
        "rotation": [
            -0.0493163987994194,
            -1.4986869096755981,
            -179.73236083984375
        ],
        "velocity": [
            -25.10336685180664,
            -0.3354436159133911,
            -0.6418315172195435
        ],
        "speed": 25.105607933604027,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 75.56214904785156,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1389.726806640625,
                3090.5283203125,
                345.7084655761719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5455,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.6406555175781
                    },
                    "rotation": {
                        "roll": -4.1690573215902305e-10,
                        "pitch": -0.616028368473053,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.290635108947754,
                "transform": {
                    "location": {
                        "x": -1356.95703125,
                        "y": 3101.475830078125,
                        "z": 345.50286865234375
                    },
                    "rotation": {
                        "roll": 0.0021461350843310356,
                        "pitch": 0.06729785352945328,
                        "yaw": -4.20382833480835
                    }
                },
                "velocity": {
                    "x": 6.273151874542236,
                    "y": -0.4683576822280884,
                    "z": 0.017106465995311737
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.063981533050537,
                "transform": {
                    "location": {
                        "x": -1356.68994140625,
                        "y": 3108.45458984375,
                        "z": 345.50067138671875
                    },
                    "rotation": {
                        "roll": 0.0018483521416783333,
                        "pitch": 0.09178407490253448,
                        "yaw": -4.190491676330566
                    }
                },
                "velocity": {
                    "x": 4.05333948135376,
                    "y": -0.29322847723960876,
                    "z": 0.020059337839484215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.894966125488281,
                "transform": {
                    "location": {
                        "x": -1352.82421875,
                        "y": 3104.649658203125,
                        "z": 345.5193786621094
                    },
                    "rotation": {
                        "roll": 0.0036575947888195515,
                        "pitch": 0.22985634207725525,
                        "yaw": -3.8862621784210205
                    }
                },
                "velocity": {
                    "x": 7.8753790855407715,
                    "y": -0.5542970299720764,
                    "z": 0.04063361883163452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.870038032531738,
                "transform": {
                    "location": {
                        "x": -1313.7457275390625,
                        "y": 3105.718017578125,
                        "z": 346.02392578125
                    },
                    "rotation": {
                        "roll": -0.0001220757549162954,
                        "pitch": 1.4574120044708252,
                        "yaw": -2.622711181640625
                    }
                },
                "velocity": {
                    "x": 7.859476566314697,
                    "y": -0.3592177629470825,
                    "z": 0.19257505238056183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.917999267578125,
                "transform": {
                    "location": {
                        "x": -1316.1358642578125,
                        "y": 3098.8251953125,
                        "z": 345.97174072265625
                    },
                    "rotation": {
                        "roll": 0.005272821988910437,
                        "pitch": 1.339208722114563,
                        "yaw": -2.406433343887329
                    }
                },
                "velocity": {
                    "x": 7.907778739929199,
                    "y": -0.3536567687988281,
                    "z": 0.19151566922664642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8294267654418945,
                "transform": {
                    "location": {
                        "x": -1310.6727294921875,
                        "y": 3102.07763671875,
                        "z": 346.1127624511719
                    },
                    "rotation": {
                        "roll": 0.0011664550984278321,
                        "pitch": 1.6158109903335571,
                        "yaw": -2.468109130859375
                    }
                },
                "velocity": {
                    "x": 7.819075584411621,
                    "y": -0.33439505100250244,
                    "z": 0.22397106885910034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.671142578125,
                        "y": 3075.72705078125,
                        "z": 355.4939270019531
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9505815505981445,
                "transform": {
                    "location": {
                        "x": -1272.363525390625,
                        "y": 3104.436767578125,
                        "z": 347.4696350097656
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 2.3896782398223877,
                        "yaw": -1.278076171875
                    }
                },
                "velocity": {
                    "x": 7.941689968109131,
                    "y": -0.1774197220802307,
                    "z": 0.3314066231250763
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.973958969116211,
                "transform": {
                    "location": {
                        "x": -1272.803466796875,
                        "y": 3097.444091796875,
                        "z": 347.457763671875
                    },
                    "rotation": {
                        "roll": 0.00040594558231532574,
                        "pitch": 2.389869451522827,
                        "yaw": -1.2768248319625854
                    }
                },
                "velocity": {
                    "x": 7.9650187492370605,
                    "y": -0.1777067482471466,
                    "z": 0.3330443501472473
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.972710609436035,
                "transform": {
                    "location": {
                        "x": -1270.3941650390625,
                        "y": 3100.890869140625,
                        "z": 347.5584716796875
                    },
                    "rotation": {
                        "roll": 0.0006966385990381241,
                        "pitch": 2.458745002746582,
                        "yaw": -1.259643316268921
                    }
                },
                "velocity": {
                    "x": 7.963337421417236,
                    "y": -0.1761896163225174,
                    "z": 0.3439921438694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.9879150390625,
                        "y": 3076.448974609375,
                        "z": 354.3988952636719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.2550048828125,
                        "y": 3077.259033203125,
                        "z": 353.076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.294921875,
                        "y": 3078.24267578125,
                        "z": 351.07196044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.9173583984375,
                        "y": 3079.10546875,
                        "z": 349.0263977050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.186748504638672,
                "transform": {
                    "location": {
                        "x": -1304.507568359375,
                        "y": 3080.707763671875,
                        "z": 346.3096923828125
                    },
                    "rotation": {
                        "roll": 0.02588035725057125,
                        "pitch": -1.849239468574524,
                        "yaw": 177.80540466308594
                    }
                },
                "velocity": {
                    "x": -16.16666030883789,
                    "y": 0.6150479912757874,
                    "z": -0.5211837887763977
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9990516304969788,
        "expert_target_speed": 18.55739995174508,
        "target_point": [
            27.53826669048985,
            2.613826386376597
        ],
        "target_point_next": [
            58.885786289865266,
            -0.12808965109819911
        ]
    },
    "515": {
        "acceleration": [
            0.33416748046875,
            3.136350154876709,
            0.6031465530395508
        ],
        "angular_velocity": [
            2.161485195159912,
            1.3138999938964844,
            -7.856182098388672
        ],
        "forward_vector": [
            -0.9993522763252258,
            0.028821183368563652,
            -0.02154850959777832
        ],
        "right_vector": [
            -0.028592897579073906,
            -0.9995324611663818,
            -0.010828235186636448
        ],
        "location": [
            -1320.5977783203125,
            3085.45703125,
            345.8767395019531
        ],
        "rotation": [
            0.6205683946609497,
            -1.2347341775894165,
            178.34805297851562
        ],
        "velocity": [
            -24.992074966430664,
            0.37986499071121216,
            -0.5064744353294373
        ],
        "speed": 24.99496166308039,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 70.5638656616211,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.968994140625,
                3090.66552734375,
                345.7273254394531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5455,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.7066650390625,
                        "y": 3074.744873046875,
                        "z": 356.4217529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.181178092956543,
                "transform": {
                    "location": {
                        "x": -1355.430419921875,
                        "y": 3101.362060546875,
                        "z": 345.5066223144531
                    },
                    "rotation": {
                        "roll": 0.0020376804750412703,
                        "pitch": 0.19145701825618744,
                        "yaw": -4.256532192230225
                    }
                },
                "velocity": {
                    "x": 6.163929462432861,
                    "y": -0.460944801568985,
                    "z": 0.02156822197139263
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9140067100524902,
                "transform": {
                    "location": {
                        "x": -1355.7159423828125,
                        "y": 3108.38330078125,
                        "z": 345.5036315917969
                    },
                    "rotation": {
                        "roll": 0.001687763724476099,
                        "pitch": 0.18539181351661682,
                        "yaw": -4.089783668518066
                    }
                },
                "velocity": {
                    "x": 3.903809070587158,
                    "y": -0.2820306718349457,
                    "z": 0.013487405143678188
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.06158447265625,
                "transform": {
                    "location": {
                        "x": -1350.8328857421875,
                        "y": 3104.50927734375,
                        "z": 345.52978515625
                    },
                    "rotation": {
                        "roll": 0.003676439169794321,
                        "pitch": 0.3538379371166229,
                        "yaw": -4.00253438949585
                    }
                },
                "velocity": {
                    "x": 8.041030883789062,
                    "y": -0.5732910633087158,
                    "z": 0.048015106469392776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9945549964904785,
                "transform": {
                    "location": {
                        "x": -1311.78857421875,
                        "y": 3105.631591796875,
                        "z": 346.0749206542969
                    },
                    "rotation": {
                        "roll": -0.004943847190588713,
                        "pitch": 1.539845585823059,
                        "yaw": -2.529266357421875
                    }
                },
                "velocity": {
                    "x": 7.983986854553223,
                    "y": -0.3482399582862854,
                    "z": 0.21816934645175934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.155011177062988,
                "transform": {
                    "location": {
                        "x": -1314.1171875,
                        "y": 3098.73486328125,
                        "z": 346.02093505859375
                    },
                    "rotation": {
                        "roll": 0.005256041418761015,
                        "pitch": 1.5018218755722046,
                        "yaw": -2.432556390762329
                    }
                },
                "velocity": {
                    "x": 8.144380569458008,
                    "y": -0.3668981194496155,
                    "z": 0.19662123918533325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023640632629395,
                "transform": {
                    "location": {
                        "x": -1308.701904296875,
                        "y": 3101.99365234375,
                        "z": 346.1687927246094
                    },
                    "rotation": {
                        "roll": 0.003722429508343339,
                        "pitch": 1.66448974609375,
                        "yaw": -2.40606689453125
                    }
                },
                "velocity": {
                    "x": 8.013773918151855,
                    "y": -0.32239389419555664,
                    "z": 0.23303373157978058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.9176025390625,
                        "y": 3075.82177734375,
                        "z": 355.3693542480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.963499546051025,
                "transform": {
                    "location": {
                        "x": -1270.376708984375,
                        "y": 3104.392333984375,
                        "z": 347.55340576171875
                    },
                    "rotation": {
                        "roll": -0.0005493175121955574,
                        "pitch": 2.4312124252319336,
                        "yaw": -1.28045654296875
                    }
                },
                "velocity": {
                    "x": 7.953945636749268,
                    "y": -0.17798751592636108,
                    "z": 0.34697601199150085
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.93232536315918,
                "transform": {
                    "location": {
                        "x": -1270.8179931640625,
                        "y": 3097.39990234375,
                        "z": 347.5411682128906
                    },
                    "rotation": {
                        "roll": 0.000287221628241241,
                        "pitch": 2.4159743785858154,
                        "yaw": -1.2757261991500854
                    }
                },
                "velocity": {
                    "x": 7.922906398773193,
                    "y": -0.175674706697464,
                    "z": 0.34420865774154663
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01213550567627,
                "transform": {
                    "location": {
                        "x": -1268.4000244140625,
                        "y": 3100.846923828125,
                        "z": 347.64453125
                    },
                    "rotation": {
                        "roll": 0.0015223341761156917,
                        "pitch": 2.594078302383423,
                        "yaw": -1.285644292831421
                    }
                },
                "velocity": {
                    "x": 8.002578735351562,
                    "y": -0.17891278862953186,
                    "z": 0.3479006886482239
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1125.2335205078125,
                        "y": 3076.5439453125,
                        "z": 354.2440490722656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.50048828125,
                        "y": 3077.35400390625,
                        "z": 352.9185485839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.5374755859375,
                        "y": 3078.33740234375,
                        "z": 350.8387451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.1610107421875,
                        "y": 3079.2001953125,
                        "z": 348.8163146972656
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1391.3355712890625,
                        "y": 3087.1845703125,
                        "z": 345.72723388671875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1401.4857177734375,
                        "y": 3088.35986328125,
                        "z": 345.8987731933594
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.968994140625,
                        "y": 3090.66552734375,
                        "z": 345.7273254394531
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1401.094482421875,
                        "y": 3091.838134765625,
                        "z": 345.8972473144531
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.609619140625,
                        "y": 3094.146728515625,
                        "z": 345.7273864746094
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.644287109375,
                        "y": 3095.309326171875,
                        "z": 345.89886474609375
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.448726654052734,
                "transform": {
                    "location": {
                        "x": -1308.594482421875,
                        "y": 3080.870849609375,
                        "z": 346.1817932128906
                    },
                    "rotation": {
                        "roll": 0.03379620611667633,
                        "pitch": -1.6881972551345825,
                        "yaw": 177.5876007080078
                    }
                },
                "velocity": {
                    "x": -16.42724609375,
                    "y": 0.6884159445762634,
                    "z": -0.48194006085395813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0002074241638184,
        "expert_target_speed": 20.0,
        "target_point": [
            21.175908784705875,
            3.358181542271467
        ],
        "target_point_next": [
            52.597681518836275,
            1.6678304442899068
        ]
    },
    "520": {
        "acceleration": [
            0.33069610595703125,
            2.646855115890503,
            0.4091984033584595
        ],
        "angular_velocity": [
            0.46864187717437744,
            0.8066085577011108,
            -5.220627307891846
        ],
        "forward_vector": [
            -0.9981058835983276,
            0.059352774173021317,
            -0.01618111878633499
        ],
        "right_vector": [
            -0.059090808033943176,
            -0.998120903968811,
            -0.016214167699217796
        ],
        "location": [
            -1326.838134765625,
            3085.647705078125,
            345.7633056640625
        ],
        "rotation": [
            0.929165780544281,
            -0.927150309085846,
            176.59689331054688
        ],
        "velocity": [
            -24.910112380981445,
            1.1180857419967651,
            -0.39459753036499023
        ],
        "speed": 24.935192290407176,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 64.3267593383789,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.9688720703125,
                3090.66552734375,
                345.72332763671875
            ],
            "velocity": [
                -0.0002468162856530398,
                0.00024622093769721687,
                -0.01926557719707489
            ],
            "speed_kmh": 0.06936743285318096,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5455,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.955078125,
                        "y": 3074.83984375,
                        "z": 356.3472900390625
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.579248905181885,
                "transform": {
                    "location": {
                        "x": -1353.804931640625,
                        "y": 3101.240478515625,
                        "z": 345.5120544433594
                    },
                    "rotation": {
                        "roll": 0.0016329220961779356,
                        "pitch": 0.28494182229042053,
                        "yaw": -4.273256301879883
                    }
                },
                "velocity": {
                    "x": 7.55812406539917,
                    "y": -0.5647374987602234,
                    "z": 0.02909802459180355
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.100310802459717,
                "transform": {
                    "location": {
                        "x": -1354.597412109375,
                        "y": 3108.302001953125,
                        "z": 345.50701904296875
                    },
                    "rotation": {
                        "roll": 0.0027722229715436697,
                        "pitch": 0.2741706073284149,
                        "yaw": -4.016359329223633
                    }
                },
                "velocity": {
                    "x": 5.086970329284668,
                    "y": -0.3681545555591583,
                    "z": 0.01915617845952511
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.603992462158203,
                "transform": {
                    "location": {
                        "x": -1348.8568115234375,
                        "y": 3104.368896484375,
                        "z": 345.5422058105469
                    },
                    "rotation": {
                        "roll": 0.0015503106405958533,
                        "pitch": 0.39990073442459106,
                        "yaw": -4.111573696136475
                    }
                },
                "velocity": {
                    "x": 7.584197998046875,
                    "y": -0.545760989189148,
                    "z": 0.05277041345834732
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.139822959899902,
                "transform": {
                    "location": {
                        "x": -1309.753173828125,
                        "y": 3105.54345703125,
                        "z": 346.1310729980469
                    },
                    "rotation": {
                        "roll": 0.00836288370192051,
                        "pitch": 1.673519253730774,
                        "yaw": -2.476806879043579
                    }
                },
                "velocity": {
                    "x": 8.129204750061035,
                    "y": -0.3495509922504425,
                    "z": 0.22485722601413727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.949403285980225,
                "transform": {
                    "location": {
                        "x": -1312.1090087890625,
                        "y": 3098.647705078125,
                        "z": 346.072998046875
                    },
                    "rotation": {
                        "roll": 0.0016560392687097192,
                        "pitch": 1.510585069656372,
                        "yaw": -2.309784173965454
                    }
                },
                "velocity": {
                    "x": 7.93917989730835,
                    "y": -0.3399675190448761,
                    "z": 0.21647106111049652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055771827697754,
                "transform": {
                    "location": {
                        "x": -1306.685302734375,
                        "y": 3101.9130859375,
                        "z": 346.2301025390625
                    },
                    "rotation": {
                        "roll": 0.0032835546880960464,
                        "pitch": 1.744723916053772,
                        "yaw": -2.323974847793579
                    }
                },
                "velocity": {
                    "x": 8.04544734954834,
                    "y": -0.317624568939209,
                    "z": 0.2556498050689697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1097.1640625,
                        "y": 3075.916748046875,
                        "z": 355.2384338378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940333843231201,
                "transform": {
                    "location": {
                        "x": -1268.390869140625,
                        "y": 3104.34814453125,
                        "z": 347.6390075683594
                    },
                    "rotation": {
                        "roll": 1.812732261896599e-05,
                        "pitch": 2.5524210929870605,
                        "yaw": -1.2813721895217896
                    }
                },
                "velocity": {
                    "x": 7.93079948425293,
                    "y": -0.17670345306396484,
                    "z": 0.34655043482780457
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9740824699401855,
                "transform": {
                    "location": {
                        "x": -1268.8309326171875,
                        "y": 3097.35546875,
                        "z": 347.6267395019531
                    },
                    "rotation": {
                        "roll": -0.0004882801149506122,
                        "pitch": 2.5370054244995117,
                        "yaw": -1.2743834257125854
                    }
                },
                "velocity": {
                    "x": 7.964529037475586,
                    "y": -0.17799986898899078,
                    "z": 0.3472518026828766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02023983001709,
                "transform": {
                    "location": {
                        "x": -1266.3956298828125,
                        "y": 3100.802001953125,
                        "z": 347.7335510253906
                    },
                    "rotation": {
                        "roll": 0.002553903963416815,
                        "pitch": 2.6111674308776855,
                        "yaw": -1.2635804414749146
                    }
                },
                "velocity": {
                    "x": 8.010294914245605,
                    "y": -0.17856012284755707,
                    "z": 0.35711905360221863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5444,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1129.4793701171875,
                        "y": 3076.638671875,
                        "z": 354.0892028808594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.7457275390625,
                        "y": 3077.448974609375,
                        "z": 352.7528381347656
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5426,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.7799072265625,
                        "y": 3078.432373046875,
                        "z": 350.6052551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5414,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1248.40478515625,
                        "y": 3079.295166015625,
                        "z": 348.60906982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.019782863557338715,
                "transform": {
                    "location": {
                        "x": -1391.33544921875,
                        "y": 3087.1845703125,
                        "z": 345.7230529785156
                    },
                    "rotation": {
                        "roll": 0.0003157108440063894,
                        "pitch": 0.8498257398605347,
                        "yaw": 173.6766815185547
                    }
                },
                "velocity": {
                    "x": -0.0002732086868491024,
                    "y": 7.565985288238153e-05,
                    "z": -0.019780833274126053
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1405.1285400390625,
                        "y": 3088.802978515625,
                        "z": 345.94537353515625
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.019268730655312538,
                "transform": {
                    "location": {
                        "x": -1390.9688720703125,
                        "y": 3090.66552734375,
                        "z": 345.72332763671875
                    },
                    "rotation": {
                        "roll": 0.0006133941933512688,
                        "pitch": 0.8525509834289551,
                        "yaw": 173.6766815185547
                    }
                },
                "velocity": {
                    "x": -0.0002468162856530398,
                    "y": 0.00024622093769721687,
                    "z": -0.01926557719707489
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1404.7437744140625,
                        "y": 3092.28173828125,
                        "z": 345.9456481933594
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012555424124002457,
                "transform": {
                    "location": {
                        "x": -1390.609619140625,
                        "y": 3094.146728515625,
                        "z": 345.72503662109375
                    },
                    "rotation": {
                        "roll": -9.155094448942691e-05,
                        "pitch": 0.8638344407081604,
                        "yaw": 173.6766815185547
                    }
                },
                "velocity": {
                    "x": -0.00016815184790175408,
                    "y": 3.877043491229415e-05,
                    "z": -0.012554238550364971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1404.2552490234375,
                        "y": 3095.748779296875,
                        "z": 345.9451599121094
                    },
                    "rotation": {
                        "roll": 6.670953123233403e-09,
                        "pitch": 0.912875235080719,
                        "yaw": 172.95127868652344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5397,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.4024600982666,
                "transform": {
                    "location": {
                        "x": -1312.6986083984375,
                        "y": 3081.048583984375,
                        "z": 346.06683349609375
                    },
                    "rotation": {
                        "roll": 0.016205625608563423,
                        "pitch": -1.5063707828521729,
                        "yaw": 177.38705444335938
                    }
                },
                "velocity": {
                    "x": -16.379892349243164,
                    "y": 0.7491176724433899,
                    "z": -0.42267027497291565
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9999463558197021,
        "expert_target_speed": 20.0,
        "target_point": [
            14.822725143134607,
            3.8236369244331114
        ],
        "target_point_next": [
            46.281478292654164,
            3.094295531544519
        ]
    },
    "525": {
        "acceleration": [
            1.0535049438476562,
            1.9368219375610352,
            0.6104260683059692
        ],
        "angular_velocity": [
            -0.4301995038986206,
            1.1047409772872925,
            -3.513368844985962
        ],
        "forward_vector": [
            -0.9969484806060791,
            0.07714885473251343,
            -0.011908248998224735
        ],
        "right_vector": [
            -0.07695820927619934,
            -0.9969104528427124,
            -0.015714729204773903
        ],
        "location": [
            -1333.050537109375,
            3086.00048828125,
            345.67999267578125
        ],
        "rotation": [
            0.900488555431366,
            -0.682308554649353,
            175.57498168945312
        ],
        "velocity": [
            -24.740827560424805,
            1.6809725761413574,
            -0.267333984375
        ],
        "speed": 24.797867190071305,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 58.105918884277344,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.9688720703125,
                3090.66552734375,
                345.72119140625
            ],
            "velocity": [
                2.6403218726045452e-05,
                1.5569552488159388e-05,
                -0.00042814589687623084
            ],
            "speed_kmh": 0.0015452701741660092,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4901725649833679,
                "transform": {
                    "location": {
                        "x": -1302.0531005859375,
                        "y": 3080.607666015625,
                        "z": 346.78717041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.92990112304688
                    }
                },
                "velocity": {
                    "x": -0.004517177119851112,
                    "y": 0.0001632749626878649,
                    "z": -0.4901517331600189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4901772737503052,
                "transform": {
                    "location": {
                        "x": -1302.0714111328125,
                        "y": 3084.11083984375,
                        "z": 346.7823486328125
                    },
                    "rotation": {
                        "roll": 6.673862351647131e-09,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.92298889160156
                    }
                },
                "velocity": {
                    "x": -0.0046274797059595585,
                    "y": 0.0001678230764809996,
                    "z": -0.4901553988456726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4902081787586212,
                "transform": {
                    "location": {
                        "x": -1302.478759765625,
                        "y": 3087.627685546875,
                        "z": 346.7644348144531
                    },
                    "rotation": {
                        "roll": 6.673862351647131e-09,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.89723205566406
                    }
                },
                "velocity": {
                    "x": -0.0053322045132517815,
                    "y": 0.00019577938655856997,
                    "z": -0.4901791214942932
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.380017280578613,
                "transform": {
                    "location": {
                        "x": -1351.7396240234375,
                        "y": 3101.0859375,
                        "z": 345.5217590332031
                    },
                    "rotation": {
                        "roll": 0.0016376558924093843,
                        "pitch": 0.36501896381378174,
                        "yaw": -4.283844470977783
                    }
                },
                "velocity": {
                    "x": 8.356426239013672,
                    "y": -0.6262317299842834,
                    "z": 0.05162820592522621
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.035328388214111,
                "transform": {
                    "location": {
                        "x": -1353.218505859375,
                        "y": 3108.203369140625,
                        "z": 345.51239013671875
                    },
                    "rotation": {
                        "roll": 0.0016085925744846463,
                        "pitch": 0.2721898555755615,
                        "yaw": -4.094361305236816
                    }
                },
                "velocity": {
                    "x": 6.01969575881958,
                    "y": -0.4335542619228363,
                    "z": 0.02204306609928608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.715462684631348,
                "transform": {
                    "location": {
                        "x": -1347.1260986328125,
                        "y": 3104.24462890625,
                        "z": 345.5549011230469
                    },
                    "rotation": {
                        "roll": 0.000858331099152565,
                        "pitch": 0.3763639032840729,
                        "yaw": -4.14059591293335
                    }
                },
                "velocity": {
                    "x": 6.698054790496826,
                    "y": -0.48029208183288574,
                    "z": 0.0531068779528141
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.921295166015625,
                "transform": {
                    "location": {
                        "x": -1307.7557373046875,
                        "y": 3105.459228515625,
                        "z": 346.18914794921875
                    },
                    "rotation": {
                        "roll": 0.0012675271136686206,
                        "pitch": 1.6988797187805176,
                        "yaw": -2.389892339706421
                    }
                },
                "velocity": {
                    "x": 7.911106586456299,
                    "y": -0.32165390253067017,
                    "z": 0.2405185103416443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083539009094238,
                "transform": {
                    "location": {
                        "x": -1310.10791015625,
                        "y": 3098.5625,
                        "z": 346.1280822753906
                    },
                    "rotation": {
                        "roll": 0.001959512010216713,
                        "pitch": 1.6629323959350586,
                        "yaw": -2.291229009628296
                    }
                },
                "velocity": {
                    "x": 8.0731840133667,
                    "y": -0.3439318835735321,
                    "z": 0.22139209508895874
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.978726387023926,
                "transform": {
                    "location": {
                        "x": -1304.686279296875,
                        "y": 3101.834228515625,
                        "z": 346.2926940917969
                    },
                    "rotation": {
                        "roll": -0.0005493194330483675,
                        "pitch": 1.8606868982315063,
                        "yaw": -2.239837646484375
                    }
                },
                "velocity": {
                    "x": 7.968570232391357,
                    "y": -0.30997276306152344,
                    "z": 0.2566664218902588
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.975900173187256,
                "transform": {
                    "location": {
                        "x": -1266.4036865234375,
                        "y": 3104.303466796875,
                        "z": 347.7273864746094
                    },
                    "rotation": {
                        "roll": 0.0001196140656247735,
                        "pitch": 2.5571954250335693,
                        "yaw": -1.2815550565719604
                    }
                },
                "velocity": {
                    "x": 7.966022968292236,
                    "y": -0.17743848264217377,
                    "z": 0.35493171215057373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.943685054779053,
                "transform": {
                    "location": {
                        "x": -1266.8436279296875,
                        "y": 3097.311279296875,
                        "z": 347.7146301269531
                    },
                    "rotation": {
                        "roll": -0.0012512227986007929,
                        "pitch": 2.5595450401306152,
                        "yaw": -1.2843321561813354
                    }
                },
                "velocity": {
                    "x": 7.933821201324463,
                    "y": -0.17822715640068054,
                    "z": 0.3533370792865753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.992649078369141,
                "transform": {
                    "location": {
                        "x": -1264.3980712890625,
                        "y": 3100.75732421875,
                        "z": 347.8226013183594
                    },
                    "rotation": {
                        "roll": 0.00021230320271570235,
                        "pitch": 2.591804027557373,
                        "yaw": -1.292510986328125
                    }
                },
                "velocity": {
                    "x": 7.982648849487305,
                    "y": -0.17939670383930206,
                    "z": 0.35717421770095825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00020703027257695794,
                "transform": {
                    "location": {
                        "x": -1391.33544921875,
                        "y": 3087.1845703125,
                        "z": 345.7208557128906
                    },
                    "rotation": {
                        "roll": 0.0003241321537643671,
                        "pitch": 0.842080295085907,
                        "yaw": 173.6767120361328
                    }
                },
                "velocity": {
                    "x": 1.8421560525894165e-05,
                    "y": -9.622016659704968e-05,
                    "z": -0.00018238382472191006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1409.9176025390625,
                        "y": 3089.403076171875,
                        "z": 346.0199890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9130118489265442,
                        "yaw": 172.70948791503906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004292417143005878,
                "transform": {
                    "location": {
                        "x": -1390.9688720703125,
                        "y": 3090.66552734375,
                        "z": 345.72119140625
                    },
                    "rotation": {
                        "roll": 0.0014138695551082492,
                        "pitch": 0.8455500602722168,
                        "yaw": 173.6767120361328
                    }
                },
                "velocity": {
                    "x": 2.6403218726045452e-05,
                    "y": 1.5569552488159388e-05,
                    "z": -0.00042814589687623084
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1409.52783203125,
                        "y": 3092.881591796875,
                        "z": 346.0207214355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9130118489265442,
                        "yaw": 172.70948791503906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0017720608739182353,
                "transform": {
                    "location": {
                        "x": -1390.609619140625,
                        "y": 3094.146728515625,
                        "z": 345.7232666015625
                    },
                    "rotation": {
                        "roll": -0.0009765673894435167,
                        "pitch": 0.8622430562973022,
                        "yaw": 173.6767120361328
                    }
                },
                "velocity": {
                    "x": -7.627308150404133e-06,
                    "y": -5.263835919322446e-05,
                    "z": -0.0017712624976411462
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1409.0096435546875,
                        "y": 3096.34423828125,
                        "z": 346.01959228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9130118489265442,
                        "yaw": 172.70948791503906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9987697601318359,
        "expert_target_speed": 20.0,
        "target_point": [
            8.531073211220402,
            3.9598020359604713
        ],
        "target_point_next": [
            39.99783031735197,
            3.7916181678105025
        ]
    },
    "530": {
        "acceleration": [
            1.3820648193359375,
            1.300969123840332,
            0.18960684537887573
        ],
        "angular_velocity": [
            -0.6940945982933044,
            0.2560447156429291,
            -2.894005537033081
        ],
        "forward_vector": [
            -0.9957830309867859,
            0.0912725105881691,
            -0.009248004294931889
        ],
        "right_vector": [
            -0.09114868193864822,
            -0.9957520961761475,
            -0.013027850538492203
        ],
        "location": [
            -1339.1954345703125,
            3086.47021484375,
            345.6241760253906
        ],
        "rotation": [
            0.7464938759803772,
            -0.5298792123794556,
            174.76295471191406
        ],
        "velocity": [
            -24.408170700073242,
            2.0704290866851807,
            -0.18636150658130646
        ],
        "speed": 24.49582563472613,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 51.9432258605957,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.9688720703125,
                3090.66552734375,
                345.7211608886719
            ],
            "velocity": [
                -9.671896805230062e-06,
                -0.00011107114551123232,
                -0.00183768046554178
            ],
            "speed_kmh": 0.006627813961291722,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1385.8216552734375,
                        "y": 3107.70458984375,
                        "z": 346.06292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7860932350158691,
                        "yaw": -6.199498176574707
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1879867315292358,
                "transform": {
                    "location": {
                        "x": -1302.052001953125,
                        "y": 3080.607666015625,
                        "z": 346.3966369628906
                    },
                    "rotation": {
                        "roll": 0.008612429723143578,
                        "pitch": -1.9151849746704102,
                        "yaw": 177.9299774169922
                    }
                },
                "velocity": {
                    "x": 0.039436064660549164,
                    "y": -0.001871424843557179,
                    "z": -1.1873304843902588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4167888164520264,
                "transform": {
                    "location": {
                        "x": -1302.0699462890625,
                        "y": 3084.11083984375,
                        "z": 346.38446044921875
                    },
                    "rotation": {
                        "roll": 0.0001198185418616049,
                        "pitch": -1.9131768941879272,
                        "yaw": 177.92311096191406
                    }
                },
                "velocity": {
                    "x": 0.04630837216973305,
                    "y": -0.0018783427076414227,
                    "z": -1.4160306453704834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4307072162628174,
                "transform": {
                    "location": {
                        "x": -1302.4779052734375,
                        "y": 3087.627685546875,
                        "z": 346.36553955078125
                    },
                    "rotation": {
                        "roll": 0.0005303378566168249,
                        "pitch": -1.8987447023391724,
                        "yaw": 177.8971710205078
                    }
                },
                "velocity": {
                    "x": 0.04705148935317993,
                    "y": -0.002088748849928379,
                    "z": -1.4299317598342896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.881338596343994,
                "transform": {
                    "location": {
                        "x": -1349.718994140625,
                        "y": 3100.934326171875,
                        "z": 345.5344543457031
                    },
                    "rotation": {
                        "roll": 0.002508647972717881,
                        "pitch": 0.38875386118888855,
                        "yaw": -4.285340309143066
                    }
                },
                "velocity": {
                    "x": 7.859129428863525,
                    "y": -0.5888243317604065,
                    "z": 0.053588494658470154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.250378608703613,
                "transform": {
                    "location": {
                        "x": -1351.3682861328125,
                        "y": 3108.068359375,
                        "z": 345.52044677734375
                    },
                    "rotation": {
                        "roll": 0.003531438997015357,
                        "pitch": 0.41221556067466736,
                        "yaw": -4.177796840667725
                    }
                },
                "velocity": {
                    "x": 8.228018760681152,
                    "y": -0.6049478054046631,
                    "z": 0.04987431317567825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.198646068572998,
                "transform": {
                    "location": {
                        "x": -1345.407470703125,
                        "y": 3104.12158203125,
                        "z": 345.5675964355469
                    },
                    "rotation": {
                        "roll": 6.196736649144441e-05,
                        "pitch": 0.46941837668418884,
                        "yaw": -4.118867874145508
                    }
                },
                "velocity": {
                    "x": 7.1800432205200195,
                    "y": -0.5141451358795166,
                    "z": 0.056038521230220795
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073591232299805,
                "transform": {
                    "location": {
                        "x": -1305.758544921875,
                        "y": 3105.37939453125,
                        "z": 346.250732421875
                    },
                    "rotation": {
                        "roll": 0.006411134731024504,
                        "pitch": 1.8542801141738892,
                        "yaw": -2.291046380996704
                    }
                },
                "velocity": {
                    "x": 8.063315391540527,
                    "y": -0.31989043951034546,
                    "z": 0.25196537375450134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.005020141601562,
                "transform": {
                    "location": {
                        "x": -1308.09619140625,
                        "y": 3098.47900390625,
                        "z": 346.1864013671875
                    },
                    "rotation": {
                        "roll": -0.002441408345475793,
                        "pitch": 1.6989753246307373,
                        "yaw": -2.19097900390625
                    }
                },
                "velocity": {
                    "x": 7.994873523712158,
                    "y": -0.32163339853286743,
                    "z": 0.24269609153270721
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.01866626739502,
                "transform": {
                    "location": {
                        "x": -1302.6890869140625,
                        "y": 3101.7587890625,
                        "z": 346.3586730957031
                    },
                    "rotation": {
                        "roll": 0.0037072121631354094,
                        "pitch": 1.879736304283142,
                        "yaw": -2.180328845977783
                    }
                },
                "velocity": {
                    "x": 8.008968353271484,
                    "y": -0.2879609167575836,
                    "z": 0.26926836371421814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5447,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1264.3470458984375,
                        "y": 3104.159912109375,
                        "z": 347.8243408203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5446,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1264.8048095703125,
                        "y": 3097.18701171875,
                        "z": 347.8098449707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5445,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.31884765625,
                        "y": 3100.674560546875,
                        "z": 347.9190673828125
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013471400598064065,
                "transform": {
                    "location": {
                        "x": -1391.33544921875,
                        "y": 3087.1845703125,
                        "z": 345.7207336425781
                    },
                    "rotation": {
                        "roll": 0.00020390376448631287,
                        "pitch": 0.840830385684967,
                        "yaw": 173.67678833007812
                    }
                },
                "velocity": {
                    "x": 1.8614530290506082e-06,
                    "y": -9.000282443594187e-05,
                    "z": -0.001344128861092031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1415.2618408203125,
                        "y": 3090.094970703125,
                        "z": 346.1047058105469
                    },
                    "rotation": {
                        "roll": 6.6709544555010325e-09,
                        "pitch": 0.9136607050895691,
                        "yaw": 172.4677276611328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0018410594202578068,
                "transform": {
                    "location": {
                        "x": -1390.9688720703125,
                        "y": 3090.66552734375,
                        "z": 345.7211608886719
                    },
                    "rotation": {
                        "roll": 0.0012402675347402692,
                        "pitch": 0.8446757793426514,
                        "yaw": 173.67678833007812
                    }
                },
                "velocity": {
                    "x": -9.671896805230062e-06,
                    "y": -0.00011107114551123232,
                    "z": -0.00183768046554178
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1414.861083984375,
                        "y": 3093.57177734375,
                        "z": 346.10565185546875
                    },
                    "rotation": {
                        "roll": 6.6709544555010325e-09,
                        "pitch": 0.9136607050895691,
                        "yaw": 172.4677276611328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7401681542396545,
                "transform": {
                    "location": {
                        "x": -1390.6419677734375,
                        "y": 3094.150146484375,
                        "z": 345.72259521484375
                    },
                    "rotation": {
                        "roll": -0.0002746600075624883,
                        "pitch": 0.9987443685531616,
                        "yaw": 173.6853485107422
                    }
                },
                "velocity": {
                    "x": -0.7359440922737122,
                    "y": 0.07836445420980453,
                    "z": 0.009707307443022728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1414.3179931640625,
                        "y": 3097.03076171875,
                        "z": 346.1042785644531
                    },
                    "rotation": {
                        "roll": 6.6709544555010325e-09,
                        "pitch": 0.9136607050895691,
                        "yaw": 172.4677276611328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0007323026657104,
        "expert_target_speed": 20.0,
        "target_point": [
            33.77795707461072,
            4.26497528065373
        ],
        "target_point_next": [
            38.65250437394922,
            0.7334918186416308
        ]
    },
    "535": {
        "acceleration": [
            1.2545394897460938,
            0.5045270919799805,
            -0.04964590072631836
        ],
        "angular_velocity": [
            -1.0647802352905273,
            -0.03634696453809738,
            -0.6354596614837646
        ],
        "forward_vector": [
            -0.9950374960899353,
            0.09901688992977142,
            -0.009799203835427761
        ],
        "right_vector": [
            -0.09892664849758148,
            -0.9950512647628784,
            -0.009302537888288498
        ],
        "location": [
            -1345.254638671875,
            3087.015869140625,
            345.57904052734375
        ],
        "rotation": [
            0.5330294370651245,
            -0.5614619851112366,
            174.31716918945312
        ],
        "velocity": [
            -24.082487106323242,
            2.2852845191955566,
            -0.18322066962718964
        ],
        "speed": 24.190674041041106,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 45.96669006347656,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.0750732421875,
                3090.677001953125,
                345.722412109375
            ],
            "velocity": [
                -1.5899935960769653,
                0.16594941914081573,
                0.024105234071612358
            ],
            "speed_kmh": 5.7557233083556065,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4064446687698364,
                "transform": {
                    "location": {
                        "x": -1385.82275390625,
                        "y": 3107.70458984375,
                        "z": 345.666015625
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.8127105236053467,
                        "yaw": -6.19928503036499
                    }
                },
                "velocity": {
                    "x": -0.01868870109319687,
                    "y": 0.002560356864705682,
                    "z": -1.406318187713623
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15010514855384827,
                "transform": {
                    "location": {
                        "x": -1302.05126953125,
                        "y": 3080.607666015625,
                        "z": 346.3728332519531
                    },
                    "rotation": {
                        "roll": 0.0037970964331179857,
                        "pitch": -1.9159226417541504,
                        "yaw": 177.92977905273438
                    }
                },
                "velocity": {
                    "x": -0.005077047273516655,
                    "y": 0.00046688722795806825,
                    "z": 0.15001854300498962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.25273773074150085,
                "transform": {
                    "location": {
                        "x": -1302.06884765625,
                        "y": 3084.11083984375,
                        "z": 346.3490905761719
                    },
                    "rotation": {
                        "roll": 0.0003627743571996689,
                        "pitch": -1.9060598611831665,
                        "yaw": 177.92303466796875
                    }
                },
                "velocity": {
                    "x": -0.008335692808032036,
                    "y": 0.00035376547020860016,
                    "z": 0.2525999844074249
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2536213994026184,
                "transform": {
                    "location": {
                        "x": -1302.476806640625,
                        "y": 3087.627685546875,
                        "z": 346.3294372558594
                    },
                    "rotation": {
                        "roll": 0.0005426073330454528,
                        "pitch": -1.8873928785324097,
                        "yaw": 177.89698791503906
                    }
                },
                "velocity": {
                    "x": -0.008397020399570465,
                    "y": 0.0005657533765770495,
                    "z": 0.2534817159175873
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.048515319824219,
                "transform": {
                    "location": {
                        "x": -1347.7490234375,
                        "y": 3100.788330078125,
                        "z": 345.5480041503906
                    },
                    "rotation": {
                        "roll": -0.0025939950719475746,
                        "pitch": 0.39823415875434875,
                        "yaw": -4.229768753051758
                    }
                },
                "velocity": {
                    "x": 8.027095794677734,
                    "y": -0.5843528509140015,
                    "z": 0.05351446196436882
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.153489112854004,
                "transform": {
                    "location": {
                        "x": -1349.2857666015625,
                        "y": 3107.91552734375,
                        "z": 345.53326416015625
                    },
                    "rotation": {
                        "roll": 0.0015837089158594608,
                        "pitch": 0.4350488781929016,
                        "yaw": -4.198365688323975
                    }
                },
                "velocity": {
                    "x": 8.131410598754883,
                    "y": -0.5969730019569397,
                    "z": 0.05629045516252518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.800191879272461,
                "transform": {
                    "location": {
                        "x": -1343.513671875,
                        "y": 3103.985595703125,
                        "z": 345.5827331542969
                    },
                    "rotation": {
                        "roll": -0.0014343279181048274,
                        "pitch": 0.5019232630729675,
                        "yaw": -4.0969557762146
                    }
                },
                "velocity": {
                    "x": 7.7800445556640625,
                    "y": -0.5564453601837158,
                    "z": 0.06531217694282532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023669242858887,
                "transform": {
                    "location": {
                        "x": -1303.743896484375,
                        "y": 3105.300048828125,
                        "z": 346.3157653808594
                    },
                    "rotation": {
                        "roll": 0.0053220996633172035,
                        "pitch": 1.900165319442749,
                        "yaw": -2.254028081893921
                    }
                },
                "velocity": {
                    "x": 8.013127326965332,
                    "y": -0.3140590488910675,
                    "z": 0.2653769850730896
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053794860839844,
                "transform": {
                    "location": {
                        "x": -1306.09228515625,
                        "y": 3098.3994140625,
                        "z": 346.2478942871094
                    },
                    "rotation": {
                        "roll": -0.00033569164224900305,
                        "pitch": 1.8340559005737305,
                        "yaw": -2.116485595703125
                    }
                },
                "velocity": {
                    "x": 8.043794631958008,
                    "y": -0.3169533312320709,
                    "z": 0.2460363507270813
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013724327087402,
                "transform": {
                    "location": {
                        "x": -1300.68603515625,
                        "y": 3101.6865234375,
                        "z": 346.42547607421875
                    },
                    "rotation": {
                        "roll": 0.001273025874979794,
                        "pitch": 1.9356071949005127,
                        "yaw": -2.045624017715454
                    }
                },
                "velocity": {
                    "x": 8.004225730895996,
                    "y": -0.2818775177001953,
                    "z": 0.269614577293396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.592928171157837,
                "transform": {
                    "location": {
                        "x": -1391.4425048828125,
                        "y": 3087.19580078125,
                        "z": 345.7220764160156
                    },
                    "rotation": {
                        "roll": 0.0007992353639565408,
                        "pitch": 0.8753160238265991,
                        "yaw": 173.67372131347656
                    }
                },
                "velocity": {
                    "x": -1.5839895009994507,
                    "y": 0.16682803630828857,
                    "z": 0.02379038743674755
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1420.8646240234375,
                        "y": 3090.84765625,
                        "z": 346.1941223144531
                    },
                    "rotation": {
                        "roll": 6.670955343679452e-09,
                        "pitch": 0.9143368601799011,
                        "yaw": 172.22592163085938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5988121032714844,
                "transform": {
                    "location": {
                        "x": -1391.0750732421875,
                        "y": 3090.677001953125,
                        "z": 345.722412109375
                    },
                    "rotation": {
                        "roll": 0.001723464927636087,
                        "pitch": 0.8791819214820862,
                        "yaw": 173.73043823242188
                    }
                },
                "velocity": {
                    "x": -1.5899935960769653,
                    "y": 0.16594941914081573,
                    "z": 0.024105234071612358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1420.448974609375,
                        "y": 3094.322998046875,
                        "z": 346.1950378417969
                    },
                    "rotation": {
                        "roll": 6.670955343679452e-09,
                        "pitch": 0.9143368601799011,
                        "yaw": 172.22592163085938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9280439615249634,
                "transform": {
                    "location": {
                        "x": -1391.0013427734375,
                        "y": 3094.188720703125,
                        "z": 345.7266845703125
                    },
                    "rotation": {
                        "roll": -0.00686646020039916,
                        "pitch": 1.3145723342895508,
                        "yaw": 173.818359375
                    }
                },
                "velocity": {
                    "x": -1.9173208475112915,
                    "y": 0.20104853808879852,
                    "z": 0.028523197397589684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1419.88330078125,
                        "y": 3097.7783203125,
                        "z": 346.1935119628906
                    },
                    "rotation": {
                        "roll": 6.670955343679452e-09,
                        "pitch": 0.9143368601799011,
                        "yaw": 172.22592163085938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9995130896568298,
        "expert_target_speed": 20.0,
        "target_point": [
            27.66029258287551,
            4.470651957476577
        ],
        "target_point_next": [
            32.56217061672864,
            0.9772040106507802
        ]
    },
    "540": {
        "acceleration": [
            1.17218017578125,
            -0.17499446868896484,
            0.10714292526245117
        ],
        "angular_velocity": [
            -1.0353113412857056,
            0.19282127916812897,
            1.0852978229522705
        ],
        "forward_vector": [
            -0.9952559471130371,
            0.09691205620765686,
            -0.008582724258303642
        ],
        "right_vector": [
            -0.09687484055757523,
            -0.99528568983078,
            -0.004651338327676058
        ],
        "location": [
            -1351.2359619140625,
            3087.5908203125,
            345.5360107421875
        ],
        "rotation": [
            0.26651284098625183,
            -0.49175992608070374,
            174.43841552734375
        ],
        "velocity": [
            -23.777008056640625,
            2.3047823905944824,
            -0.15562310814857483
        ],
        "speed": 23.888451896126455,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 40.5639762878418,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.677001953125,
                3090.740478515625,
                345.7314453125
            ],
            "velocity": [
                -2.9058730602264404,
                0.3047192394733429,
                0.04405936226248741
            ],
            "speed_kmh": 10.519698520707486,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1386.19970703125,
                        "y": 3104.224853515625,
                        "z": 346.06292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7860932350158691,
                        "yaw": -6.199498176574707
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.25180208683013916,
                "transform": {
                    "location": {
                        "x": -1385.8232421875,
                        "y": 3107.704833984375,
                        "z": 345.6314697265625
                    },
                    "rotation": {
                        "roll": -0.0005188020877540112,
                        "pitch": -0.8310768604278564,
                        "yaw": -6.199223518371582
                    }
                },
                "velocity": {
                    "x": 0.0033696768805384636,
                    "y": -0.0006429460481740534,
                    "z": 0.2517787218093872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4020715951919556,
                "transform": {
                    "location": {
                        "x": -1302.2025146484375,
                        "y": 3080.612060546875,
                        "z": 346.3903503417969
                    },
                    "rotation": {
                        "roll": -0.0016784650506451726,
                        "pitch": -1.742982268333435,
                        "yaw": 177.93466186523438
                    }
                },
                "velocity": {
                    "x": -1.4013868570327759,
                    "y": 0.04345535486936569,
                    "z": -0.005597266834229231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06078113242983818,
                "transform": {
                    "location": {
                        "x": -1302.070068359375,
                        "y": 3084.11083984375,
                        "z": 346.3881530761719
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": -1.9079586267471313,
                        "yaw": 177.92286682128906
                    }
                },
                "velocity": {
                    "x": -0.002046730136498809,
                    "y": 0.000320022547384724,
                    "z": 0.06074582040309906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.061869461089372635,
                "transform": {
                    "location": {
                        "x": -1302.47802734375,
                        "y": 3087.627685546875,
                        "z": 346.3687438964844
                    },
                    "rotation": {
                        "roll": 0.0001269147905986756,
                        "pitch": -1.8946260213851929,
                        "yaw": 177.89688110351562
                    }
                },
                "velocity": {
                    "x": -0.002086038002744317,
                    "y": 0.000157888003741391,
                    "z": 0.06183408200740814
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.121774673461914,
                "transform": {
                    "location": {
                        "x": -1345.718505859375,
                        "y": 3100.640625,
                        "z": 345.5633544921875
                    },
                    "rotation": {
                        "roll": 0.0006127504166215658,
                        "pitch": 0.4564068615436554,
                        "yaw": -4.15878438949585
                    }
                },
                "velocity": {
                    "x": 8.10029411315918,
                    "y": -0.5867445468902588,
                    "z": 0.06476961076259613
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.871045112609863,
                "transform": {
                    "location": {
                        "x": -1347.30810546875,
                        "y": 3107.771240234375,
                        "z": 345.5474548339844
                    },
                    "rotation": {
                        "roll": -0.00012206984683871269,
                        "pitch": 0.38361072540283203,
                        "yaw": -4.172333717346191
                    }
                },
                "velocity": {
                    "x": 7.850366115570068,
                    "y": -0.5674880743026733,
                    "z": 0.05533524230122566
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.639204025268555,
                "transform": {
                    "location": {
                        "x": -1341.368408203125,
                        "y": 3103.834716796875,
                        "z": 345.60064697265625
                    },
                    "rotation": {
                        "roll": -0.0015869141789153218,
                        "pitch": 0.5016705393791199,
                        "yaw": -3.985107898712158
                    }
                },
                "velocity": {
                    "x": 8.618294715881348,
                    "y": -0.5963180661201477,
                    "z": 0.07238534837961197
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.000572204589844,
                "transform": {
                    "location": {
                        "x": -1301.7470703125,
                        "y": 3105.22607421875,
                        "z": 346.38232421875
                    },
                    "rotation": {
                        "roll": -0.01126098446547985,
                        "pitch": 1.9527305364608765,
                        "yaw": -2.116424798965454
                    }
                },
                "velocity": {
                    "x": 7.990837097167969,
                    "y": -0.28992190957069397,
                    "z": 0.2676355838775635
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.00868034362793,
                "transform": {
                    "location": {
                        "x": -1304.086181640625,
                        "y": 3098.320556640625,
                        "z": 346.3119812011719
                    },
                    "rotation": {
                        "roll": 0.003507412038743496,
                        "pitch": 1.8681385517120361,
                        "yaw": -2.092803955078125
                    }
                },
                "velocity": {
                    "x": 7.9981513023376465,
                    "y": -0.31501850485801697,
                    "z": 0.2632494866847992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005367279052734,
                "transform": {
                    "location": {
                        "x": -1298.6868896484375,
                        "y": 3101.616455078125,
                        "z": 346.4932861328125
                    },
                    "rotation": {
                        "roll": 0.0007184906862676144,
                        "pitch": 1.9287974834442139,
                        "yaw": -2.027801513671875
                    }
                },
                "velocity": {
                    "x": 7.996453285217285,
                    "y": -0.2625214159488678,
                    "z": 0.2715263068675995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.934864044189453,
                "transform": {
                    "location": {
                        "x": -1392.04248046875,
                        "y": 3087.259521484375,
                        "z": 345.73095703125
                    },
                    "rotation": {
                        "roll": 0.0015655996976420283,
                        "pitch": 0.8985249996185303,
                        "yaw": 173.7581024169922
                    }
                },
                "velocity": {
                    "x": -2.918487548828125,
                    "y": 0.30640900135040283,
                    "z": 0.044401902705430984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1426.2552490234375,
                        "y": 3091.595947265625,
                        "z": 346.2801208496094
                    },
                    "rotation": {
                        "roll": -6.670957120036292e-09,
                        "pitch": 0.9149720668792725,
                        "yaw": 171.98416137695312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9221384525299072,
                "transform": {
                    "location": {
                        "x": -1391.677001953125,
                        "y": 3090.740478515625,
                        "z": 345.7314453125
                    },
                    "rotation": {
                        "roll": 0.0038444020319730043,
                        "pitch": 0.9019127488136292,
                        "yaw": 173.79104614257812
                    }
                },
                "velocity": {
                    "x": -2.9058730602264404,
                    "y": 0.3047192394733429,
                    "z": 0.04405936226248741
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1425.8243408203125,
                        "y": 3095.069580078125,
                        "z": 346.2810363769531
                    },
                    "rotation": {
                        "roll": -6.670957120036292e-09,
                        "pitch": 0.9149720668792725,
                        "yaw": 171.98416137695312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0571155548095703,
                "transform": {
                    "location": {
                        "x": -1391.61572265625,
                        "y": 3094.25341796875,
                        "z": 345.7358093261719
                    },
                    "rotation": {
                        "roll": -0.0028381298761814833,
                        "pitch": 1.371713638305664,
                        "yaw": 173.88670349121094
                    }
                },
                "velocity": {
                    "x": -3.040131092071533,
                    "y": 0.3185447156429291,
                    "z": 0.04568655788898468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1425.2384033203125,
                        "y": 3098.521728515625,
                        "z": 346.2794494628906
                    },
                    "rotation": {
                        "roll": -6.670957120036292e-09,
                        "pitch": 0.9149720668792725,
                        "yaw": 171.98416137695312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000344157218933,
        "expert_target_speed": 20.0,
        "target_point": [
            21.660802927922557,
            4.404669142895893
        ],
        "target_point_next": [
            26.555277145115443,
            0.9008556556812326
        ]
    },
    "545": {
        "acceleration": [
            1.0065460205078125,
            -0.44342994689941406,
            0.1943005621433258
        ],
        "angular_velocity": [
            -0.6954410076141357,
            0.26014336943626404,
            1.1803381443023682
        ],
        "forward_vector": [
            -0.9958010315895081,
            0.09139027446508408,
            -0.005305503495037556
        ],
        "right_vector": [
            -0.09138801693916321,
            -0.995815098285675,
            -0.0006673484458588064
        ],
        "location": [
            -1357.146240234375,
            3088.154296875,
            345.5068359375
        ],
        "rotation": [
            0.03823678940534592,
            -0.3039843738079071,
            174.75633239746094
        ],
        "velocity": [
            -23.50814437866211,
            2.2027227878570557,
            -0.07919702678918839
        ],
        "speed": 23.61111686913958,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 35.46160888671875,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1392.506103515625,
                3090.828125,
                345.74407958984375
            ],
            "velocity": [
                -3.6676602363586426,
                0.38398540019989014,
                0.05560939759016037
            ],
            "speed_kmh": 13.277251359914526,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3207283020019531,
                "transform": {
                    "location": {
                        "x": -1386.2010498046875,
                        "y": 3104.224853515625,
                        "z": 345.67132568359375
                    },
                    "rotation": {
                        "roll": 0.00015080958837643266,
                        "pitch": -0.8124987483024597,
                        "yaw": -6.199498176574707
                    }
                },
                "velocity": {
                    "x": -0.019499875605106354,
                    "y": 0.0019733370281755924,
                    "z": -1.3205828666687012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.061199307441711426,
                "transform": {
                    "location": {
                        "x": -1385.82275390625,
                        "y": 3107.70458984375,
                        "z": 345.6703796386719
                    },
                    "rotation": {
                        "roll": -0.0001220723643200472,
                        "pitch": -0.8283038139343262,
                        "yaw": -6.19940710067749
                    }
                },
                "velocity": {
                    "x": 0.0008364548557437956,
                    "y": -0.00016870864783413708,
                    "z": 0.06119335815310478
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5830323696136475,
                "transform": {
                    "location": {
                        "x": -1302.708740234375,
                        "y": 3080.627197265625,
                        "z": 346.3783264160156
                    },
                    "rotation": {
                        "roll": -0.010284423828125,
                        "pitch": -1.720367431640625,
                        "yaw": 178.08045959472656
                    }
                },
                "velocity": {
                    "x": -2.5807149410247803,
                    "y": 0.07592424750328064,
                    "z": -0.07875625044107437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2957568168640137,
                "transform": {
                    "location": {
                        "x": -1302.3978271484375,
                        "y": 3084.120849609375,
                        "z": 346.3813171386719
                    },
                    "rotation": {
                        "roll": -0.005523680243641138,
                        "pitch": -1.855530023574829,
                        "yaw": 178.04486083984375
                    }
                },
                "velocity": {
                    "x": -2.293632984161377,
                    "y": 0.06262029707431793,
                    "z": -0.07632942497730255
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3399938344955444,
                "transform": {
                    "location": {
                        "x": -1302.6641845703125,
                        "y": 3087.63330078125,
                        "z": 346.36663818359375
                    },
                    "rotation": {
                        "roll": -0.0025024355854839087,
                        "pitch": -1.853392243385315,
                        "yaw": 177.9458770751953
                    }
                },
                "velocity": {
                    "x": -1.338739037513733,
                    "y": 0.03643050417304039,
                    "z": -0.04510055109858513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.948400497436523,
                "transform": {
                    "location": {
                        "x": -1343.7227783203125,
                        "y": 3100.49560546875,
                        "z": 345.57952880859375
                    },
                    "rotation": {
                        "roll": -0.0003051778767257929,
                        "pitch": 0.47501230239868164,
                        "yaw": -4.1424880027771
                    }
                },
                "velocity": {
                    "x": 7.927359580993652,
                    "y": -0.5741509795188904,
                    "z": 0.06627622246742249
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.135217666625977,
                "transform": {
                    "location": {
                        "x": -1345.3077392578125,
                        "y": 3107.62646484375,
                        "z": 345.5625
                    },
                    "rotation": {
                        "roll": 0.0004723007441498339,
                        "pitch": 0.4645894467830658,
                        "yaw": -4.129395008087158
                    }
                },
                "velocity": {
                    "x": 8.114001274108887,
                    "y": -0.5835366249084473,
                    "z": 0.06509178131818771
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.157228469848633,
                "transform": {
                    "location": {
                        "x": -1339.285400390625,
                        "y": 3103.690673828125,
                        "z": 345.61834716796875
                    },
                    "rotation": {
                        "roll": -0.0020446800626814365,
                        "pitch": 0.4649309515953064,
                        "yaw": -3.9119279384613037
                    }
                },
                "velocity": {
                    "x": 8.137917518615723,
                    "y": -0.5568274855613708,
                    "z": 0.06800607591867447
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047846794128418,
                "transform": {
                    "location": {
                        "x": -1299.7410888671875,
                        "y": 3105.154296875,
                        "z": 346.4503479003906
                    },
                    "rotation": {
                        "roll": -0.008697512559592724,
                        "pitch": 1.970324993133545,
                        "yaw": -2.043518304824829
                    }
                },
                "velocity": {
                    "x": 8.038145065307617,
                    "y": -0.2848106920719147,
                    "z": 0.27377790212631226
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059667587280273,
                "transform": {
                    "location": {
                        "x": -1302.079345703125,
                        "y": 3098.24658203125,
                        "z": 346.3783264160156
                    },
                    "rotation": {
                        "roll": -0.004058841150254011,
                        "pitch": 1.9301772117614746,
                        "yaw": -1.948516845703125
                    }
                },
                "velocity": {
                    "x": 8.050045013427734,
                    "y": -0.290492445230484,
                    "z": 0.26575809717178345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.011772155761719,
                "transform": {
                    "location": {
                        "x": -1296.6866455078125,
                        "y": 3101.551513671875,
                        "z": 346.56109619140625
                    },
                    "rotation": {
                        "roll": 0.0042846230790019035,
                        "pitch": 1.9317686557769775,
                        "yaw": -1.8450011014938354
                    }
                },
                "velocity": {
                    "x": 8.003175735473633,
                    "y": -0.24950888752937317,
                    "z": 0.2746228873729706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.689220428466797,
                "transform": {
                    "location": {
                        "x": -1392.871337890625,
                        "y": 3087.34716796875,
                        "z": 345.7436218261719
                    },
                    "rotation": {
                        "roll": 0.0036565435584634542,
                        "pitch": 0.9070149064064026,
                        "yaw": 173.83602905273438
                    }
                },
                "velocity": {
                    "x": -3.668712615966797,
                    "y": 0.3843955993652344,
                    "z": 0.05598469451069832
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1431.7265625,
                        "y": 3092.380126953125,
                        "z": 346.3675842285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9156209826469421,
                        "yaw": 171.7423858642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6881253719329834,
                "transform": {
                    "location": {
                        "x": -1392.506103515625,
                        "y": 3090.828125,
                        "z": 345.74407958984375
                    },
                    "rotation": {
                        "roll": 0.005785818211734295,
                        "pitch": 0.9111335277557373,
                        "yaw": 173.86541748046875
                    }
                },
                "velocity": {
                    "x": -3.6676602363586426,
                    "y": 0.38398540019989014,
                    "z": 0.05560939759016037
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1431.279052734375,
                        "y": 3095.851806640625,
                        "z": 346.36846923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9156209826469421,
                        "yaw": 171.7423858642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.44733190536499,
                "transform": {
                    "location": {
                        "x": -1392.5621337890625,
                        "y": 3094.352783203125,
                        "z": 345.7497253417969
                    },
                    "rotation": {
                        "roll": 0.0005826533306390047,
                        "pitch": 1.4999231100082397,
                        "yaw": 173.94752502441406
                    }
                },
                "velocity": {
                    "x": -4.422684669494629,
                    "y": 0.4626990854740143,
                    "z": 0.06729833781719208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1430.67431640625,
                        "y": 3099.30126953125,
                        "z": 346.3667907714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9156209826469421,
                        "yaw": 171.7423858642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9993536472320557,
        "expert_target_speed": 20.0,
        "target_point": [
            15.747869629474925,
            4.305378382330444
        ],
        "target_point_next": [
            20.622826094126015,
            0.7744597647877249
        ]
    },
    "550": {
        "acceleration": [
            0.8116531372070312,
            -0.42259693145751953,
            0.20730645954608917
        ],
        "angular_velocity": [
            -0.19959276914596558,
            0.3229549527168274,
            0.6672512292861938
        ],
        "forward_vector": [
            -0.9961441159248352,
            0.08771267533302307,
            -0.0018380868714302778
        ],
        "right_vector": [
            -0.08771496266126633,
            -0.9961448907852173,
            0.0012021487345919013
        ],
        "location": [
            -1362.99560546875,
            3088.690185546875,
            345.4979248046875
        ],
        "rotation": [
            -0.068878173828125,
            -0.10531467944383621,
            174.96795654296875
        ],
        "velocity": [
            -23.287799835205078,
            2.090520143508911,
            0.0009910773951560259
        ],
        "speed": 23.381443403583837,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 30.601932525634766,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1393.5140380859375,
                3090.93408203125,
                345.759521484375
            ],
            "velocity": [
                -4.370755672454834,
                0.4564969837665558,
                0.0695347934961319
            ],
            "speed_kmh": 15.822288624803885,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5461,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0526742935180664,
                "transform": {
                    "location": {
                        "x": -1385.444091796875,
                        "y": 3111.18408203125,
                        "z": 345.7631530761719
                    },
                    "rotation": {
                        "roll": -9.155605948762968e-05,
                        "pitch": -0.7967483401298523,
                        "yaw": -6.199467182159424
                    }
                },
                "velocity": {
                    "x": -0.02520723082125187,
                    "y": 0.003671698970720172,
                    "z": -2.052516222000122
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2468245029449463,
                "transform": {
                    "location": {
                        "x": -1386.2015380859375,
                        "y": 3104.225341796875,
                        "z": 345.6417236328125
                    },
                    "rotation": {
                        "roll": 0.0016609379090368748,
                        "pitch": -0.831015408039093,
                        "yaw": -6.199498653411865
                    }
                },
                "velocity": {
                    "x": 0.0036164289340376854,
                    "y": -0.0005483380518853664,
                    "z": 0.24679739773273468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.270905017852783,
                "transform": {
                    "location": {
                        "x": -1385.5018310546875,
                        "y": 3107.67333984375,
                        "z": 345.66998291015625
                    },
                    "rotation": {
                        "roll": -0.0024719249922782183,
                        "pitch": -0.7651655673980713,
                        "yaw": -6.045872211456299
                    }
                },
                "velocity": {
                    "x": 2.260978937149048,
                    "y": -0.20987407863140106,
                    "z": -0.03060094825923443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.1756367683410645,
                "transform": {
                    "location": {
                        "x": -1303.5594482421875,
                        "y": 3080.651611328125,
                        "z": 346.3511657714844
                    },
                    "rotation": {
                        "roll": -0.004547119606286287,
                        "pitch": -1.648589015007019,
                        "yaw": 178.22669982910156
                    }
                },
                "velocity": {
                    "x": -4.1717658042907715,
                    "y": 0.11807465553283691,
                    "z": -0.13554644584655762
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2848994731903076,
                "transform": {
                    "location": {
                        "x": -1303.107666015625,
                        "y": 3084.14111328125,
                        "z": 346.3575744628906
                    },
                    "rotation": {
                        "roll": -0.010009769350290298,
                        "pitch": -1.8481192588806152,
                        "yaw": 178.14283752441406
                    }
                },
                "velocity": {
                    "x": -3.2818994522094727,
                    "y": 0.08940527588129044,
                    "z": -0.10819412767887115
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9365413188934326,
                "transform": {
                    "location": {
                        "x": -1303.0755615234375,
                        "y": 3087.645263671875,
                        "z": 346.3526611328125
                    },
                    "rotation": {
                        "roll": -0.006011960096657276,
                        "pitch": -1.8503391742706299,
                        "yaw": 178.03440856933594
                    }
                },
                "velocity": {
                    "x": -1.9347736835479736,
                    "y": 0.05201900750398636,
                    "z": -0.06431729346513748
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.109585762023926,
                "transform": {
                    "location": {
                        "x": -1341.7183837890625,
                        "y": 3100.35498046875,
                        "z": 345.59613037109375
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": 0.47960901260375977,
                        "yaw": -4.005250930786133
                    }
                },
                "velocity": {
                    "x": 8.090041160583496,
                    "y": -0.5585393905639648,
                    "z": 0.06815780699253082
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.038533210754395,
                "transform": {
                    "location": {
                        "x": -1343.2864990234375,
                        "y": 3107.48095703125,
                        "z": 345.5788879394531
                    },
                    "rotation": {
                        "roll": -0.00021362437109928578,
                        "pitch": 0.4812414348125458,
                        "yaw": -4.115662574768066
                    }
                },
                "velocity": {
                    "x": 8.017508506774902,
                    "y": -0.5769091844558716,
                    "z": 0.06891412287950516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.551222324371338,
                "transform": {
                    "location": {
                        "x": -1337.2890625,
                        "y": 3103.5556640625,
                        "z": 345.6349792480469
                    },
                    "rotation": {
                        "roll": -0.0019226095173507929,
                        "pitch": 0.46160465478897095,
                        "yaw": -3.7977919578552246
                    }
                },
                "velocity": {
                    "x": 7.5345916748046875,
                    "y": -0.49668046832084656,
                    "z": 0.06477317959070206
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009522438049316,
                "transform": {
                    "location": {
                        "x": -1297.7364501953125,
                        "y": 3105.086181640625,
                        "z": 346.5184631347656
                    },
                    "rotation": {
                        "roll": -0.01602172665297985,
                        "pitch": 1.9571701288223267,
                        "yaw": -1.9342650175094604
                    }
                },
                "velocity": {
                    "x": 8.000636100769043,
                    "y": -0.2611812353134155,
                    "z": 0.2721193730831146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.999171257019043,
                "transform": {
                    "location": {
                        "x": -1300.074951171875,
                        "y": 3098.17529296875,
                        "z": 346.4455261230469
                    },
                    "rotation": {
                        "roll": 0.0004730740620288998,
                        "pitch": 1.9487621784210205,
                        "yaw": -1.8733216524124146
                    }
                },
                "velocity": {
                    "x": 7.989598751068115,
                    "y": -0.2829221785068512,
                    "z": 0.27020853757858276
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009559631347656,
                "transform": {
                    "location": {
                        "x": -1294.6859130859375,
                        "y": 3101.489013671875,
                        "z": 346.6300354003906
                    },
                    "rotation": {
                        "roll": -0.0012817452661693096,
                        "pitch": 1.9748398065567017,
                        "yaw": -1.8204346895217896
                    }
                },
                "velocity": {
                    "x": 8.000946044921875,
                    "y": -0.24903252720832825,
                    "z": 0.27547597885131836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.396126747131348,
                "transform": {
                    "location": {
                        "x": -1393.879638671875,
                        "y": 3087.453369140625,
                        "z": 345.7590026855469
                    },
                    "rotation": {
                        "roll": 0.007073602639138699,
                        "pitch": 0.9252583384513855,
                        "yaw": 173.92462158203125
                    }
                },
                "velocity": {
                    "x": -4.371792316436768,
                    "y": 0.4567011594772339,
                    "z": 0.06918977946043015
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1437.150390625,
                        "y": 3093.1875,
                        "z": 346.45428466796875
                    },
                    "rotation": {
                        "roll": 6.6709602286607605e-09,
                        "pitch": 0.9168981909751892,
                        "yaw": 171.2588348388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.395080089569092,
                "transform": {
                    "location": {
                        "x": -1393.5140380859375,
                        "y": 3090.93408203125,
                        "z": 345.759521484375
                    },
                    "rotation": {
                        "roll": 0.007092648185789585,
                        "pitch": 0.9284617304801941,
                        "yaw": 173.9395751953125
                    }
                },
                "velocity": {
                    "x": -4.370755672454834,
                    "y": 0.4564969837665558,
                    "z": 0.0695347934961319
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1436.6861572265625,
                        "y": 3096.65673828125,
                        "z": 346.45513916015625
                    },
                    "rotation": {
                        "roll": 6.6709602286607605e-09,
                        "pitch": 0.9168981909751892,
                        "yaw": 171.2588348388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.2951178550720215,
                "transform": {
                    "location": {
                        "x": -1393.814697265625,
                        "y": 3094.48388671875,
                        "z": 345.7699890136719
                    },
                    "rotation": {
                        "roll": 0.0033367828000336885,
                        "pitch": 1.432324767112732,
                        "yaw": 174.0108642578125
                    }
                },
                "velocity": {
                    "x": -5.265954971313477,
                    "y": 0.5486006736755371,
                    "z": 0.08382980525493622
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1436.06298828125,
                        "y": 3100.102783203125,
                        "z": 346.4534606933594
                    },
                    "rotation": {
                        "roll": 6.6709602286607605e-09,
                        "pitch": 0.9168981909751892,
                        "yaw": 171.2588348388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9998122453689575,
        "expert_target_speed": 20.0,
        "target_point": [
            9.889839507226496,
            4.26794437270893
        ],
        "target_point_next": [
            14.751721015577216,
            0.7190438366681484
        ]
    },
    "555": {
        "acceleration": [
            0.9525299072265625,
            -0.3591012954711914,
            0.28478801250457764
        ],
        "angular_velocity": [
            -0.003155867336317897,
            0.4689617156982422,
            0.5893634557723999
        ],
        "forward_vector": [
            -0.9963777661323547,
            0.0850236788392067,
            0.0015156262088567019
        ],
        "right_vector": [
            -0.08502114564180374,
            -0.9963777661323547,
            0.0016628748271614313
        ],
        "location": [
            -1368.7923583984375,
            3089.200439453125,
            345.5082702636719
        ],
        "rotation": [
            -0.0952758640050888,
            0.08683902025222778,
            175.1226043701172
        ],
        "velocity": [
            -23.072839736938477,
            1.9955880641937256,
            0.07880641520023346
        ],
        "speed": 23.158978933631758,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 25.978717803955078,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1394.703125,
                3091.05859375,
                345.77874755859375
            ],
            "velocity": [
                -5.128010272979736,
                0.5346274971961975,
                0.0845692977309227
            ],
            "speed_kmh": 18.563391495390825,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5461,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13901333510875702,
                "transform": {
                    "location": {
                        "x": -1385.445556640625,
                        "y": 3111.184326171875,
                        "z": 345.6832275390625
                    },
                    "rotation": {
                        "roll": 0.0013842277694493532,
                        "pitch": -0.8456115126609802,
                        "yaw": -6.19928503036499
                    }
                },
                "velocity": {
                    "x": 0.0018464018357917666,
                    "y": -0.00025323452427983284,
                    "z": 0.13900084793567657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05787644907832146,
                "transform": {
                    "location": {
                        "x": -1386.2010498046875,
                        "y": 3104.225341796875,
                        "z": 345.6793212890625
                    },
                    "rotation": {
                        "roll": 0.0004904840025119483,
                        "pitch": -0.8270539045333862,
                        "yaw": -6.199559211730957
                    }
                },
                "velocity": {
                    "x": 0.0008761209319345653,
                    "y": -7.183021807577461e-05,
                    "z": 0.05786977335810661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1975581645965576,
                "transform": {
                    "location": {
                        "x": -1384.8092041015625,
                        "y": 3107.607421875,
                        "z": 345.66021728515625
                    },
                    "rotation": {
                        "roll": -0.005584715399891138,
                        "pitch": -0.737305223941803,
                        "yaw": -5.839939594268799
                    }
                },
                "velocity": {
                    "x": 3.1837518215179443,
                    "y": -0.2939132750034332,
                    "z": -0.04144708439707756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.398347854614258,
                "transform": {
                    "location": {
                        "x": -1304.783935546875,
                        "y": 3080.685546875,
                        "z": 346.31170654296875
                    },
                    "rotation": {
                        "roll": -0.009948727674782276,
                        "pitch": -1.6361033916473389,
                        "yaw": 178.34835815429688
                    }
                },
                "velocity": {
                    "x": -5.393462181091309,
                    "y": 0.1487276405096054,
                    "z": -0.17494580149650574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.090392589569092,
                "transform": {
                    "location": {
                        "x": -1304.033447265625,
                        "y": 3084.167236328125,
                        "z": 346.3273010253906
                    },
                    "rotation": {
                        "roll": -0.016632070764899254,
                        "pitch": -1.8271164894104004,
                        "yaw": 178.266845703125
                    }
                },
                "velocity": {
                    "x": -4.086772441864014,
                    "y": 0.10959753394126892,
                    "z": -0.13262386620044708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.572856903076172,
                "transform": {
                    "location": {
                        "x": -1303.642333984375,
                        "y": 3087.661376953125,
                        "z": 346.33392333984375
                    },
                    "rotation": {
                        "roll": -0.010986331850290298,
                        "pitch": -1.8375871181488037,
                        "yaw": 178.1572723388672
                    }
                },
                "velocity": {
                    "x": -2.570605993270874,
                    "y": 0.06773237884044647,
                    "z": -0.0836092010140419
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005361557006836,
                "transform": {
                    "location": {
                        "x": -1339.70751953125,
                        "y": 3100.2158203125,
                        "z": 345.6129150390625
                    },
                    "rotation": {
                        "roll": 0.00042418489465489984,
                        "pitch": 0.4736257791519165,
                        "yaw": -3.9432990550994873
                    }
                },
                "velocity": {
                    "x": 7.986124515533447,
                    "y": -0.550583004951477,
                    "z": 0.06695743650197983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.995753288269043,
                "transform": {
                    "location": {
                        "x": -1341.294677734375,
                        "y": 3107.341552734375,
                        "z": 345.5956115722656
                    },
                    "rotation": {
                        "roll": -0.0032348644454032183,
                        "pitch": 0.4772457778453827,
                        "yaw": -3.9952096939086914
                    }
                },
                "velocity": {
                    "x": 7.976545810699463,
                    "y": -0.5497735738754272,
                    "z": 0.06735610961914062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.717300891876221,
                "transform": {
                    "location": {
                        "x": -1335.5635986328125,
                        "y": 3103.442626953125,
                        "z": 345.6506042480469
                    },
                    "rotation": {
                        "roll": 2.35780535149388e-05,
                        "pitch": 0.49939608573913574,
                        "yaw": -3.7943735122680664
                    }
                },
                "velocity": {
                    "x": 6.7029314041137695,
                    "y": -0.4344128668308258,
                    "z": 0.06424890458583832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.6904296875,
                        "y": 3104.96923828125,
                        "z": 346.5880126953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065742492675781,
                "transform": {
                    "location": {
                        "x": -1298.068359375,
                        "y": 3098.1064453125,
                        "z": 346.513427734375
                    },
                    "rotation": {
                        "roll": -0.006530763115733862,
                        "pitch": 1.945825219154358,
                        "yaw": -1.782684087753296
                    }
                },
                "velocity": {
                    "x": 8.056845664978027,
                    "y": -0.26336610317230225,
                    "z": 0.27218472957611084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5449,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1292.6221923828125,
                        "y": 3101.390869140625,
                        "z": 346.7009582519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.1580586433410645,
                "transform": {
                    "location": {
                        "x": -1395.0692138671875,
                        "y": 3087.578125,
                        "z": 345.7781677246094
                    },
                    "rotation": {
                        "roll": 0.008372191339731216,
                        "pitch": 0.9235166311264038,
                        "yaw": 173.98480224609375
                    }
                },
                "velocity": {
                    "x": -5.129513263702393,
                    "y": 0.5351980328559875,
                    "z": 0.08500359952449799
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1442.6119384765625,
                        "y": 3094.021728515625,
                        "z": 346.5417785644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.917178213596344,
                        "yaw": 171.01705932617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.156497478485107,
                "transform": {
                    "location": {
                        "x": -1394.703125,
                        "y": 3091.05859375,
                        "z": 345.77874755859375
                    },
                    "rotation": {
                        "roll": 0.00924275815486908,
                        "pitch": 0.9240767359733582,
                        "yaw": 173.99447631835938
                    }
                },
                "velocity": {
                    "x": -5.128010272979736,
                    "y": 0.5346274971961975,
                    "z": 0.0845692977309227
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1442.1312255859375,
                        "y": 3097.4892578125,
                        "z": 346.5426025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.917178213596344,
                        "yaw": 171.01705932617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.271152019500732,
                "transform": {
                    "location": {
                        "x": -1395.1827392578125,
                        "y": 3094.626708984375,
                        "z": 345.7922058105469
                    },
                    "rotation": {
                        "roll": 0.006819001864641905,
                        "pitch": 1.3333415985107422,
                        "yaw": 174.06854248046875
                    }
                },
                "velocity": {
                    "x": -6.23667049407959,
                    "y": 0.6490931510925293,
                    "z": 0.09984731674194336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1441.4896240234375,
                        "y": 3100.931884765625,
                        "z": 346.5409240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.917178213596344,
                        "yaw": 171.01705932617188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0006922483444214,
        "expert_target_speed": 20.0,
        "target_point": [
            8.934462094305118,
            0.6947689724793075
        ],
        "target_point_next": [
            8.934462094305118,
            0.6947689724793075
        ]
    },
    "560": {
        "acceleration": [
            1.4080810546875,
            -0.3632330894470215,
            0.3338935971260071
        ],
        "angular_velocity": [
            0.06074414402246475,
            0.46577543020248413,
            0.577800989151001
        ],
        "forward_vector": [
            -0.9965826272964478,
            0.08249207586050034,
            0.00426708348095417
        ],
        "right_vector": [
            -0.08248596638441086,
            -0.9965909719467163,
            0.0015888267662376165
        ],
        "location": [
            -1374.5228271484375,
            3089.6884765625,
            345.5368347167969
        ],
        "rotation": [
            -0.091033935546875,
            0.24448661506175995,
            175.26812744140625
        ],
        "velocity": [
            -22.75497055053711,
            1.9049419164657593,
            0.15072591602802277
        ],
        "speed": 22.83456784046765,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 5,
        "distance_to_front_vehicle": 21.564828872680664,
        "front_vehicle_info": {
            "id": 5401,
            "type": "vehicle.ford.mustang",
            "location": [
                -1396.0330810546875,
                3091.198974609375,
                345.7999572753906
            ],
            "velocity": [
                -5.559872150421143,
                0.6087443828582764,
                0.08754600584506989
            ],
            "speed_kmh": 20.137620120847224,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5461,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9337727427482605,
                "transform": {
                    "location": {
                        "x": -1385.379638671875,
                        "y": 3111.177734375,
                        "z": 345.7052001953125
                    },
                    "rotation": {
                        "roll": -0.0029602013528347015,
                        "pitch": -0.7617504596710205,
                        "yaw": -6.165745258331299
                    }
                },
                "velocity": {
                    "x": 0.9291508793830872,
                    "y": -0.08545610308647156,
                    "z": 0.036158349364995956
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.493303060531616,
                "transform": {
                    "location": {
                        "x": -1385.8526611328125,
                        "y": 3104.192138671875,
                        "z": 345.6801452636719
                    },
                    "rotation": {
                        "roll": 0.005044473800808191,
                        "pitch": -1.0179439783096313,
                        "yaw": -6.061466217041016
                    }
                },
                "velocity": {
                    "x": 2.4827373027801514,
                    "y": -0.22699666023254395,
                    "z": -0.032381925731897354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.979368209838867,
                "transform": {
                    "location": {
                        "x": -1383.9097900390625,
                        "y": 3107.522705078125,
                        "z": 345.6483154296875
                    },
                    "rotation": {
                        "roll": -0.008178710006177425,
                        "pitch": -0.68987637758255,
                        "yaw": -5.601504325866699
                    }
                },
                "velocity": {
                    "x": 3.9624993801116943,
                    "y": -0.36257484555244446,
                    "z": -0.0500999353826046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5458,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.026041507720947,
                "transform": {
                    "location": {
                        "x": -1306.224853515625,
                        "y": 3080.7314453125,
                        "z": 346.2655334472656
                    },
                    "rotation": {
                        "roll": 0.0094521539285779,
                        "pitch": -1.6852670907974243,
                        "yaw": 178.15179443359375
                    }
                },
                "velocity": {
                    "x": -6.019571304321289,
                    "y": 0.20391766726970673,
                    "z": -0.19066791236400604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.905891418457031,
                "transform": {
                    "location": {
                        "x": -1305.159912109375,
                        "y": 3084.19873046875,
                        "z": 346.2906494140625
                    },
                    "rotation": {
                        "roll": -0.018951408565044403,
                        "pitch": -1.7953424453735352,
                        "yaw": 178.34152221679688
                    }
                },
                "velocity": {
                    "x": -4.90079927444458,
                    "y": 0.15921235084533691,
                    "z": -0.15680557489395142
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5456,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.193676471710205,
                "transform": {
                    "location": {
                        "x": -1304.3641357421875,
                        "y": 3087.681396484375,
                        "z": 346.3102722167969
                    },
                    "rotation": {
                        "roll": -0.017242420464754105,
                        "pitch": -1.8154915571212769,
                        "yaw": 178.27821350097656
                    }
                },
                "velocity": {
                    "x": -3.1909267902374268,
                    "y": 0.08316405117511749,
                    "z": -0.10314697027206421
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5454,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06246280670166,
                "transform": {
                    "location": {
                        "x": -1337.70556640625,
                        "y": 3100.080322265625,
                        "z": 345.6295166015625
                    },
                    "rotation": {
                        "roll": -0.005401612725108862,
                        "pitch": 0.4753265082836151,
                        "yaw": -3.8484818935394287
                    }
                },
                "velocity": {
                    "x": 8.044973373413086,
                    "y": -0.5264842510223389,
                    "z": 0.06724954396486282
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5453,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.100090026855469,
                "transform": {
                    "location": {
                        "x": -1339.282470703125,
                        "y": 3107.20263671875,
                        "z": 345.6124267578125
                    },
                    "rotation": {
                        "roll": -0.0007629402680322528,
                        "pitch": 0.48064038157463074,
                        "yaw": -3.9372568130493164
                    }
                },
                "velocity": {
                    "x": 8.080682754516602,
                    "y": -0.5562096834182739,
                    "z": 0.06821061670780182
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5452,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.292570114135742,
                "transform": {
                    "location": {
                        "x": -1333.830322265625,
                        "y": 3103.33056640625,
                        "z": 345.6663513183594
                    },
                    "rotation": {
                        "roll": -0.0020446754060685635,
                        "pitch": 0.5881543755531311,
                        "yaw": -3.7207648754119873
                    }
                },
                "velocity": {
                    "x": 7.27725076675415,
                    "y": -0.46711692214012146,
                    "z": 0.0707402378320694
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5450,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.99072265625,
                        "y": 3097.968017578125,
                        "z": 346.58453369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5403,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.591767311096191,
                "transform": {
                    "location": {
                        "x": -1396.3941650390625,
                        "y": 3087.718017578125,
                        "z": 345.7992858886719
                    },
                    "rotation": {
                        "roll": 0.011132522486150265,
                        "pitch": 0.9168981909751892,
                        "yaw": 173.95840454101562
                    }
                },
                "velocity": {
                    "x": -5.5578155517578125,
                    "y": 0.6089796423912048,
                    "z": 0.08771082013845444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5402,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1447.860595703125,
                        "y": 3094.851806640625,
                        "z": 346.6254577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8802747130393982,
                        "yaw": 170.77528381347656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5401,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.593783378601074,
                "transform": {
                    "location": {
                        "x": -1396.0330810546875,
                        "y": 3091.198974609375,
                        "z": 345.7999572753906
                    },
                    "rotation": {
                        "roll": 0.011140670627355576,
                        "pitch": 0.9178885817527771,
                        "yaw": 173.9745330810547
                    }
                },
                "velocity": {
                    "x": -5.559872150421143,
                    "y": 0.6087443828582764,
                    "z": 0.08754600584506989
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5400,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1447.363525390625,
                        "y": 3098.31640625,
                        "z": 346.6263122558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8802747130393982,
                        "yaw": 170.77528381347656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5399,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.680128574371338,
                "transform": {
                    "location": {
                        "x": -1396.93408203125,
                        "y": 3094.819580078125,
                        "z": 345.8194580078125
                    },
                    "rotation": {
                        "roll": 0.04818624258041382,
                        "pitch": 1.5145260095596313,
                        "yaw": 173.7677459716797
                    }
                },
                "velocity": {
                    "x": -7.631322860717773,
                    "y": 0.8559402823448181,
                    "z": 0.12105006724596024
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5398,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1446.7054443359375,
                        "y": 3101.75341796875,
                        "z": 346.6247863769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8802747130393982,
                        "yaw": 170.77528381347656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0001866817474365,
        "expert_target_speed": 20.0,
        "target_point": [
            8.146049114627612,
            -2.910683281096218
        ],
        "target_point_next": [
            10.154261415072932,
            -2.955377428127343
        ]
    }
}