{
    "0": {
        "acceleration": [
            -0.021299459040164948,
            0.0029236997943371534,
            -0.5720075964927673
        ],
        "angular_velocity": [
            -0.0719214379787445,
            0.10199691355228424,
            0.002158209914341569
        ],
        "forward_vector": [
            0.9993374943733215,
            0.008370083756744862,
            -0.035418491810560226
        ],
        "right_vector": [
            -0.008366227149963379,
            0.9999649524688721,
            0.000257099891314283
        ],
        "location": [
            -1669.696044921875,
            1609.7452392578125,
            326.0105285644531
        ],
        "rotation": [
            -0.014739987440407276,
            -2.029754638671875,
            0.47987717390060425
        ],
        "velocity": [
            0.004625282250344753,
            0.0006496583810076118,
            0.12015193700790405
        ],
        "speed": 0.004670684308253734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00044422675273381174,
        "expert_target_speed": 20.0,
        "target_point": [
            51.003867758440514,
            0.00043697128916792005
        ],
        "target_point_next": [
            102.0038283815065,
            0.000784592766285952
        ]
    },
    "5": {
        "acceleration": [
            -0.00786905363202095,
            -0.003454031888395548,
            -0.21395757794380188
        ],
        "angular_velocity": [
            -0.02955382689833641,
            0.03866833448410034,
            0.0007020967314019799
        ],
        "forward_vector": [
            0.9993277788162231,
            0.008367813192307949,
            -0.03569202125072479
        ],
        "right_vector": [
            -0.008370088413357735,
            0.9999649524688721,
            8.569915371481329e-05
        ],
        "location": [
            -1669.6959228515625,
            1609.7452392578125,
            326.0277404785156
        ],
        "rotation": [
            -0.004913330543786287,
            -2.0454366207122803,
            0.47975170612335205
        ],
        "velocity": [
            0.0013989292783662677,
            0.00021771191677544266,
            0.03423123434185982
        ],
        "speed": 0.0014157689093126757,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.006823539733887,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1654.6964111328125,
                1609.8712158203125,
                325.57659912109375
            ],
            "velocity": [
                -0.018813030794262886,
                -5.06706019223202e-05,
                -0.6273777484893799
            ],
            "speed_kmh": 2.2595751293224002,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1591.2664794921875,
                        "y": 1606.902587890625,
                        "z": 324.51116943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3582160770893097,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45570674538612366,
                "transform": {
                    "location": {
                        "x": -1699.6939697265625,
                        "y": 1609.4940185546875,
                        "z": 327.1037292480469
                    },
                    "rotation": {
                        "roll": -0.0002746589307207614,
                        "pitch": -2.0053365230560303,
                        "yaw": 0.4801596999168396
                    }
                },
                "velocity": {
                    "x": -0.015820160508155823,
                    "y": -0.00022573427122551948,
                    "z": -0.4554319977760315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.36417239904403687,
                "transform": {
                    "location": {
                        "x": -1684.6939697265625,
                        "y": 1609.61962890625,
                        "z": 326.5745849609375
                    },
                    "rotation": {
                        "roll": -0.00021362346888054162,
                        "pitch": -2.062375545501709,
                        "yaw": 0.4802238941192627
                    }
                },
                "velocity": {
                    "x": -0.01283756922930479,
                    "y": -0.0001890545099740848,
                    "z": -0.36394602060317993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6276597380638123,
                "transform": {
                    "location": {
                        "x": -1654.6964111328125,
                        "y": 1609.8712158203125,
                        "z": 325.57659912109375
                    },
                    "rotation": {
                        "roll": 0.00019829811935778707,
                        "pitch": -1.6701587438583374,
                        "yaw": 0.48036104440689087
                    }
                },
                "velocity": {
                    "x": -0.018813030794262886,
                    "y": -5.06706019223202e-05,
                    "z": -0.6273777484893799
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5068548321723938,
                "transform": {
                    "location": {
                        "x": -1639.695068359375,
                        "y": 1609.996826171875,
                        "z": 325.14007568359375
                    },
                    "rotation": {
                        "roll": 0.00010747648047981784,
                        "pitch": -1.3686195611953735,
                        "yaw": 0.4803190529346466
                    }
                },
                "velocity": {
                    "x": -0.011843057349324226,
                    "y": -5.076809975435026e-05,
                    "z": -0.5067164301872253
                },
                "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": -0.0008525324519723654,
        "expert_target_speed": 1.0047325808509706,
        "target_point": [
            51.00374569135224,
            0.0005474358362013154
        ],
        "target_point_next": [
            102.00370631355491,
            0.0010044913566323865
        ]
    },
    "10": {
        "acceleration": [
            -0.0026550465263426304,
            -0.005980480927973986,
            -0.053535401821136475
        ],
        "angular_velocity": [
            -0.0032344600185751915,
            0.006330839823931456,
            -0.00037831859663128853
        ],
        "forward_vector": [
            0.9993245601654053,
            0.008365671150386333,
            -0.035782087594270706
        ],
        "right_vector": [
            -0.008370079100131989,
            0.9999649524688721,
            2.661454891494941e-05
        ],
        "location": [
            -1669.6959228515625,
            1609.7452392578125,
            326.0322570800781
        ],
        "rotation": [
            -0.0015258785570040345,
            -2.050600290298462,
            0.47963041067123413
        ],
        "velocity": [
            0.00038770437822677195,
            5.117431101098191e-07,
            0.008461879566311836
        ],
        "speed": 0.0003877047159594768,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.007054328918457,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1654.6981201171875,
                1609.8712158203125,
                325.5206604003906
            ],
            "velocity": [
                0.0019092538859695196,
                -8.446024730801582e-05,
                0.05839235708117485
            ],
            "speed_kmh": 0.21032504356973625,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1593.3487548828125,
                        "y": 1606.88525390625,
                        "z": 324.45135498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3582160770893097,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.094720259308815,
                "transform": {
                    "location": {
                        "x": -1699.6944580078125,
                        "y": 1609.4940185546875,
                        "z": 327.0965270996094
                    },
                    "rotation": {
                        "roll": 0.0004690445784945041,
                        "pitch": -2.0045783519744873,
                        "yaw": 0.48006772994995117
                    }
                },
                "velocity": {
                    "x": 0.0033955180551856756,
                    "y": 1.9928285837522708e-05,
                    "z": 0.09465938061475754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04462621733546257,
                "transform": {
                    "location": {
                        "x": -1684.6944580078125,
                        "y": 1609.61962890625,
                        "z": 326.56689453125
                    },
                    "rotation": {
                        "roll": -0.00045776317710988224,
                        "pitch": -2.064936876296997,
                        "yaw": 0.48009034991264343
                    }
                },
                "velocity": {
                    "x": 0.001653225626796484,
                    "y": -5.072002750239335e-05,
                    "z": 0.04459555447101593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05842362344264984,
                "transform": {
                    "location": {
                        "x": -1654.6981201171875,
                        "y": 1609.8712158203125,
                        "z": 325.5206604003906
                    },
                    "rotation": {
                        "roll": 0.0003387362230569124,
                        "pitch": -1.6809982061386108,
                        "yaw": 0.4803462624549866
                    }
                },
                "velocity": {
                    "x": 0.0019092538859695196,
                    "y": -8.446024730801582e-05,
                    "z": 0.05839235708117485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10367123782634735,
                "transform": {
                    "location": {
                        "x": -1639.6953125,
                        "y": 1609.996826171875,
                        "z": 325.13153076171875
                    },
                    "rotation": {
                        "roll": -0.00045776396291330457,
                        "pitch": -1.372253179550171,
                        "yaw": 0.48024317622184753
                    }
                },
                "velocity": {
                    "x": 0.0024739080108702183,
                    "y": -0.00013656304508913308,
                    "z": 0.10364162176847458
                },
                "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": -0.0010065834503620863,
        "expert_target_speed": 0.9779439105121854,
        "target_point": [
            51.00374569006015,
            0.0006568780013892495
        ],
        "target_point_next": [
            102.00370631116468,
            0.0012233675651311948
        ]
    },
    "15": {
        "acceleration": [
            0.0370170958340168,
            -0.0004388131492305547,
            -0.03812753036618233
        ],
        "angular_velocity": [
            0.024126481264829636,
            0.014160902239382267,
            -0.013490392826497555
        ],
        "forward_vector": [
            0.9993234872817993,
            0.008361575193703175,
            -0.03581330180168152
        ],
        "right_vector": [
            -0.008366656489670277,
            0.9999650120735168,
            7.98435848992085e-06
        ],
        "location": [
            -1669.6959228515625,
            1609.7452392578125,
            326.0332336425781
        ],
        "rotation": [
            -0.00045776370097883046,
            -2.0523898601531982,
            0.47939610481262207
        ],
        "velocity": [
            0.0020407771226018667,
            -8.145220635924488e-05,
            0.0008139052661135793
        ],
        "speed": 0.002042401950169443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.01595401763916,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1654.688232421875,
                1609.8712158203125,
                325.55133056640625
            ],
            "velocity": [
                0.1260603368282318,
                0.002507429104298353,
                0.10661584883928299
            ],
            "speed_kmh": 0.594430043736038,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1595.4312744140625,
                        "y": 1606.8677978515625,
                        "z": 324.4060363769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3582160770893097,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.021255813539028168,
                "transform": {
                    "location": {
                        "x": -1699.6944580078125,
                        "y": 1609.4940185546875,
                        "z": 327.11053466796875
                    },
                    "rotation": {
                        "roll": -0.000610352260991931,
                        "pitch": -2.0046944618225098,
                        "yaw": 0.4799976944923401
                    }
                },
                "velocity": {
                    "x": 0.0008343386580236256,
                    "y": -2.6247324058203958e-05,
                    "z": 0.021239416673779488
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1053972244262695,
                "transform": {
                    "location": {
                        "x": -1684.6083984375,
                        "y": 1609.6212158203125,
                        "z": 326.5706481933594
                    },
                    "rotation": {
                        "roll": -0.007415770553052425,
                        "pitch": -1.9260517358779907,
                        "yaw": 0.552662193775177
                    }
                },
                "velocity": {
                    "x": 1.1048667430877686,
                    "y": 0.020682906731963158,
                    "z": -0.027287645265460014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1651194542646408,
                "transform": {
                    "location": {
                        "x": -1654.688232421875,
                        "y": 1609.8712158203125,
                        "z": 325.55133056640625
                    },
                    "rotation": {
                        "roll": -0.0004577624495141208,
                        "pitch": -1.6665319204330444,
                        "yaw": 0.48301100730895996
                    }
                },
                "velocity": {
                    "x": 0.1260603368282318,
                    "y": 0.002507429104298353,
                    "z": 0.10661584883928299
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.022830696776509285,
                "transform": {
                    "location": {
                        "x": -1639.6949462890625,
                        "y": 1609.996826171875,
                        "z": 325.1468811035156
                    },
                    "rotation": {
                        "roll": 8.340019230779205e-10,
                        "pitch": -1.3707027435302734,
                        "yaw": 0.48012757301330566
                    }
                },
                "velocity": {
                    "x": 0.0005718421889469028,
                    "y": -6.669335562037304e-05,
                    "z": 0.022823436185717583
                },
                "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": -1.5362354588432936e-06,
        "expert_target_speed": 0.9726330590562604,
        "target_point": [
            51.00374568687549,
            0.0008696822114677705
        ],
        "target_point_next": [
            102.00370630517253,
            0.001648960192750737
        ]
    },
    "20": {
        "acceleration": [
            1.3295245170593262,
            0.010009482502937317,
            -0.048966482281684875
        ],
        "angular_velocity": [
            0.014179754070937634,
            -0.09403271973133087,
            0.16391105949878693
        ],
        "forward_vector": [
            0.9994880557060242,
            0.00805302057415247,
            -0.030963238328695297
        ],
        "right_vector": [
            -0.008057508617639542,
            0.9999675154685974,
            -2.0181758372928016e-05
        ],
        "location": [
            -1669.50927734375,
            1609.746826171875,
            326.0259094238281
        ],
        "rotation": [
            0.0011568842455744743,
            -1.7743464708328247,
            0.4616304636001587
        ],
        "velocity": [
            1.1008824110031128,
            0.008355424739420414,
            -0.03790062665939331
        ],
        "speed": 1.1009141183482944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.932158470153809,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1654.5849609375,
                1609.8726806640625,
                325.5586853027344
            ],
            "velocity": [
                0.8857326507568359,
                0.014834685251116753,
                -0.029484963044524193
            ],
            "speed_kmh": 3.190850733543426,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1597.51416015625,
                        "y": 1606.8502197265625,
                        "z": 324.4193115234375
                    },
                    "rotation": {
                        "roll": 4.1690240148994917e-10,
                        "pitch": 0.5715296864509583,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2205896377563477,
                "transform": {
                    "location": {
                        "x": -1699.4605712890625,
                        "y": 1609.49853515625,
                        "z": 327.1052551269531
                    },
                    "rotation": {
                        "roll": 0.0028902250342071056,
                        "pitch": -2.1966843605041504,
                        "yaw": 0.5216679573059082
                    }
                },
                "velocity": {
                    "x": 2.2187724113464355,
                    "y": 0.042739901691675186,
                    "z": -0.07899980992078781
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3272078037261963,
                "transform": {
                    "location": {
                        "x": -1684.168212890625,
                        "y": 1609.628662109375,
                        "z": 326.55633544921875
                    },
                    "rotation": {
                        "roll": -0.01232909969985485,
                        "pitch": -1.8786638975143433,
                        "yaw": 0.7011325359344482
                    }
                },
                "velocity": {
                    "x": 2.3254623413085938,
                    "y": 0.038769662380218506,
                    "z": -0.08135497570037842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8863474130630493,
                "transform": {
                    "location": {
                        "x": -1654.5849609375,
                        "y": 1609.8726806640625,
                        "z": 325.5586853027344
                    },
                    "rotation": {
                        "roll": -0.005615232978016138,
                        "pitch": -1.5385068655014038,
                        "yaw": 0.538030207157135
                    }
                },
                "velocity": {
                    "x": 0.8857326507568359,
                    "y": 0.014834685251116753,
                    "z": -0.029484963044524193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1222938299179077,
                "transform": {
                    "location": {
                        "x": -1639.57177734375,
                        "y": 1609.9986572265625,
                        "z": 325.1452331542969
                    },
                    "rotation": {
                        "roll": -0.0017089834436774254,
                        "pitch": -1.332979679107666,
                        "yaw": 0.5095639228820801
                    }
                },
                "velocity": {
                    "x": 1.1218031644821167,
                    "y": 0.019993754103779793,
                    "z": -0.026486225426197052
                },
                "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": 0.0014908945886418223,
        "expert_target_speed": 2.0319216409956526,
        "target_point": [
            50.81709073008971,
            0.016600984397998286
        ],
        "target_point_next": [
            101.81704865521125,
            0.03319348134582045
        ]
    },
    "25": {
        "acceleration": [
            1.5468096733093262,
            -0.009740665555000305,
            -0.0633375346660614
        ],
        "angular_velocity": [
            -0.06500270217657089,
            0.10833065211772919,
            -1.148522973060608
        ],
        "forward_vector": [
            0.9994884729385376,
            0.006965037900954485,
            -0.03121357597410679
        ],
        "right_vector": [
            -0.006972042843699455,
            0.9999757409095764,
            -0.00011557269317563623
        ],
        "location": [
            -1669.169677734375,
            1609.7496337890625,
            326.01409912109375
        ],
        "rotation": [
            0.006625055801123381,
            -1.7886966466903687,
            0.3992650508880615
        ],
        "velocity": [
            1.6323992013931274,
            0.010747055523097515,
            -0.057286933064460754
        ],
        "speed": 1.6324345781412917,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.945853233337402,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1654.2318115234375,
                1609.8779296875,
                325.5426940917969
            ],
            "velocity": [
                1.8347129821777344,
                0.033221807330846786,
                -0.07325118035078049
            ],
            "speed_kmh": 6.611310710847062,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1599.5970458984375,
                        "y": 1606.8328857421875,
                        "z": 324.4325256347656
                    },
                    "rotation": {
                        "roll": 4.1690240148994917e-10,
                        "pitch": 0.5715296864509583,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.451563835144043,
                "transform": {
                    "location": {
                        "x": -1698.738037109375,
                        "y": 1609.5111083984375,
                        "z": 327.0792236328125
                    },
                    "rotation": {
                        "roll": -0.005126952193677425,
                        "pitch": -2.155791997909546,
                        "yaw": 0.696832001209259
                    }
                },
                "velocity": {
                    "x": 3.448791742324829,
                    "y": 0.06639599800109863,
                    "z": -0.12132450193166733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9067904949188232,
                "transform": {
                    "location": {
                        "x": -1683.3892822265625,
                        "y": 1609.6419677734375,
                        "z": 326.5287170410156
                    },
                    "rotation": {
                        "roll": -0.01715087704360485,
                        "pitch": -1.8335505723953247,
                        "yaw": 0.842826783657074
                    }
                },
                "velocity": {
                    "x": 3.903719425201416,
                    "y": 0.06820083409547806,
                    "z": -0.1390528827905655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8364752531051636,
                "transform": {
                    "location": {
                        "x": -1654.2318115234375,
                        "y": 1609.8779296875,
                        "z": 325.5426940917969
                    },
                    "rotation": {
                        "roll": -0.012603759765625,
                        "pitch": -1.4199825525283813,
                        "yaw": 0.6679059863090515
                    }
                },
                "velocity": {
                    "x": 1.8347129821777344,
                    "y": 0.033221807330846786,
                    "z": -0.07325118035078049
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8725224733352661,
                "transform": {
                    "location": {
                        "x": -1639.192138671875,
                        "y": 1610.0045166015625,
                        "z": 325.1361389160156
                    },
                    "rotation": {
                        "roll": -0.0038452146109193563,
                        "pitch": -1.3207672834396362,
                        "yaw": 0.626218318939209
                    }
                },
                "velocity": {
                    "x": 1.871700406074524,
                    "y": 0.03431858867406845,
                    "z": -0.04358988627791405
                },
                "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": 0.004794897511601448,
        "expert_target_speed": 2.551257828111261,
        "target_point": [
            50.477431634960034,
            0.0714682561495461
        ],
        "target_point_next": [
            101.47734129455144,
            0.14356810801114506
        ]
    },
    "30": {
        "acceleration": [
            2.013835906982422,
            -0.012106802314519882,
            -0.06370007991790771
        ],
        "angular_velocity": [
            -0.007401769980788231,
            0.111518494784832,
            -0.07257161289453506
        ],
        "forward_vector": [
            0.9994843602180481,
            0.004376926925033331,
            -0.03180979937314987
        ],
        "right_vector": [
            -0.0043890816159546375,
            0.9999902844429016,
            -0.00031229251180775464
        ],
        "location": [
            -1668.6966552734375,
            1609.75244140625,
            325.99761962890625
        ],
        "rotation": [
            0.017902102321386337,
            -1.822874903678894,
            0.25090721249580383
        ],
        "velocity": [
            2.1014204025268555,
            0.008329727686941624,
            -0.07360025495290756
        ],
        "speed": 2.1014369113821783,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.132538795471191,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1653.572265625,
                1609.8890380859375,
                325.52020263671875
            ],
            "velocity": [
                3.4744279384613037,
                0.0643816664814949,
                -0.10045038163661957
            ],
            "speed_kmh": 12.515313288892374,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007933616638184,
                "transform": {
                    "location": {
                        "x": -1601.626220703125,
                        "y": 1606.800537109375,
                        "z": 324.453369140625
                    },
                    "rotation": {
                        "roll": -0.0195617638528347,
                        "pitch": 0.6475018858909607,
                        "yaw": -179.08511352539062
                    }
                },
                "velocity": {
                    "x": -8.006306648254395,
                    "y": -0.13530680537223816,
                    "z": 0.08805973082780838
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.635127544403076,
                "transform": {
                    "location": {
                        "x": -1697.719970703125,
                        "y": 1609.529296875,
                        "z": 327.04315185546875
                    },
                    "rotation": {
                        "roll": -0.011260985396802425,
                        "pitch": -2.1269822120666504,
                        "yaw": 0.8577933311462402
                    }
                },
                "velocity": {
                    "x": 4.631397724151611,
                    "y": 0.08937304466962814,
                    "z": -0.1630270928144455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.352985858917236,
                "transform": {
                    "location": {
                        "x": -1682.2218017578125,
                        "y": 1609.6630859375,
                        "z": 326.4870910644531
                    },
                    "rotation": {
                        "roll": -0.02197265811264515,
                        "pitch": -1.835141897201538,
                        "yaw": 0.9709286093711853
                    }
                },
                "velocity": {
                    "x": 5.348732948303223,
                    "y": 0.09824448078870773,
                    "z": -0.18936826288700104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.476475715637207,
                "transform": {
                    "location": {
                        "x": -1653.572265625,
                        "y": 1609.8890380859375,
                        "z": 325.52020263671875
                    },
                    "rotation": {
                        "roll": -0.01629638485610485,
                        "pitch": -1.3035893440246582,
                        "yaw": 0.7845929861068726
                    }
                },
                "velocity": {
                    "x": 3.4744279384613037,
                    "y": 0.0643816664814949,
                    "z": -0.10045038163661957
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.435300588607788,
                "transform": {
                    "location": {
                        "x": -1638.6507568359375,
                        "y": 1610.0145263671875,
                        "z": 325.12353515625
                    },
                    "rotation": {
                        "roll": -0.0028076167218387127,
                        "pitch": -1.3056042194366455,
                        "yaw": 0.6024026870727539
                    }
                },
                "velocity": {
                    "x": 2.4342563152313232,
                    "y": 0.04452667012810707,
                    "z": -0.055691976100206375
                },
                "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": 0.01114621665328741,
        "expert_target_speed": 3.030686006871998,
        "target_point": [
            50.00404714073439,
            0.20143521626854002
        ],
        "target_point_next": [
            101.00359913950432,
            0.4055910388320501
        ]
    },
    "35": {
        "acceleration": [
            0.899653434753418,
            -0.016755126416683197,
            -0.0212077796459198
        ],
        "angular_velocity": [
            -0.007781399413943291,
            0.19012859463691711,
            -0.9265099763870239
        ],
        "forward_vector": [
            0.9994666576385498,
            0.002098468132317066,
            -0.03258759528398514
        ],
        "right_vector": [
            -0.002113094087690115,
            0.9999977350234985,
            -0.00041438115295022726
        ],
        "location": [
            -1668.1282958984375,
            1609.7545166015625,
            325.9778137207031
        ],
        "rotation": [
            0.023754907771945,
            -1.867462396621704,
            0.12029735743999481
        ],
        "velocity": [
            2.432805299758911,
            0.00409498019143939,
            -0.08527553081512451
        ],
        "speed": 2.4328087461610735,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.708373069763184,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1652.4283447265625,
                1609.9093017578125,
                325.4873352050781
            ],
            "velocity": [
                5.3677873611450195,
                0.10275856405496597,
                -0.1479489803314209
            ],
            "speed_kmh": 19.334912421199586,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.150821685791016,
                "transform": {
                    "location": {
                        "x": -1603.6470947265625,
                        "y": 1606.7652587890625,
                        "z": 324.47723388671875
                    },
                    "rotation": {
                        "roll": -0.004547120071947575,
                        "pitch": 0.7352834939956665,
                        "yaw": -178.98849487304688
                    }
                },
                "velocity": {
                    "x": -8.148812294006348,
                    "y": -0.14653322100639343,
                    "z": 0.10622218996286392
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.341039180755615,
                "transform": {
                    "location": {
                        "x": -1696.445556640625,
                        "y": 1609.552734375,
                        "z": 326.9981689453125
                    },
                    "rotation": {
                        "roll": -0.01641845889389515,
                        "pitch": -2.0838632583618164,
                        "yaw": 0.9785021543502808
                    }
                },
                "velocity": {
                    "x": 5.33670711517334,
                    "y": 0.10315079241991043,
                    "z": -0.18872523307800293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.521162986755371,
                "transform": {
                    "location": {
                        "x": -1680.8634033203125,
                        "y": 1609.688720703125,
                        "z": 326.4381103515625
                    },
                    "rotation": {
                        "roll": -0.023590087890625,
                        "pitch": -1.9796141386032104,
                        "yaw": 1.0606929063796997
                    }
                },
                "velocity": {
                    "x": 5.5166120529174805,
                    "y": 0.10464075952768326,
                    "z": -0.19819773733615875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.370809078216553,
                "transform": {
                    "location": {
                        "x": -1652.4283447265625,
                        "y": 1609.9093017578125,
                        "z": 325.4873352050781
                    },
                    "rotation": {
                        "roll": -0.01849365234375,
                        "pitch": -1.1712270975112915,
                        "yaw": 0.9023416638374329
                    }
                },
                "velocity": {
                    "x": 5.3677873611450195,
                    "y": 0.10275856405496597,
                    "z": -0.1479489803314209
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.044440984725952,
                "transform": {
                    "location": {
                        "x": -1637.9625244140625,
                        "y": 1610.02685546875,
                        "z": 325.1075439453125
                    },
                    "rotation": {
                        "roll": -0.003997802268713713,
                        "pitch": -1.2776141166687012,
                        "yaw": 0.6549633741378784
                    }
                },
                "velocity": {
                    "x": 3.04311203956604,
                    "y": 0.05652241408824921,
                    "z": -0.06997467577457428
                },
                "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": 0.018049903213977814,
        "expert_target_speed": 3.4020481507858515,
        "target_point": [
            49.43509553288615,
            0.3145438940557518
        ],
        "target_point_next": [
            100.43404961440098,
            0.6349596656161935
        ]
    },
    "40": {
        "acceleration": [
            0.6003379821777344,
            -0.02045588195323944,
            -0.014015138149261475
        ],
        "angular_velocity": [
            -0.0008334964513778687,
            0.16065533459186554,
            0.06075890362262726
        ],
        "forward_vector": [
            0.9994444251060486,
            0.00033186012296937406,
            -0.0333268865942955
        ],
        "right_vector": [
            -0.00034647315624170005,
            0.9999998211860657,
            -0.0004327015485614538
        ],
        "location": [
            -1667.4932861328125,
            1609.7552490234375,
            325.9563293457031
        ],
        "rotation": [
            0.02480575256049633,
            -1.9098436832427979,
            0.01902475394308567
        ],
        "velocity": [
            2.594679832458496,
            -0.0006337529048323631,
            -0.08747939765453339
        ],
        "speed": 2.594679909855856,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.49230194091797,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1651.009765625,
                1609.9359130859375,
                325.4494934082031
            ],
            "velocity": [
                6.511366844177246,
                0.1264796108007431,
                -0.18094177544116974
            ],
            "speed_kmh": 23.454389613877936,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.918643474578857,
                "transform": {
                    "location": {
                        "x": -1605.6546630859375,
                        "y": 1606.728759765625,
                        "z": 324.5039367675781
                    },
                    "rotation": {
                        "roll": 0.0031658976804465055,
                        "pitch": 0.7573450207710266,
                        "yaw": -178.96047973632812
                    }
                },
                "velocity": {
                    "x": -7.916472434997559,
                    "y": -0.1450939178466797,
                    "z": 0.11545230448246002
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.746001720428467,
                "transform": {
                    "location": {
                        "x": -1695.0474853515625,
                        "y": 1609.5792236328125,
                        "z": 326.9485778808594
                    },
                    "rotation": {
                        "roll": -0.02108764462172985,
                        "pitch": -2.072327136993408,
                        "yaw": 1.0976688861846924
                    }
                },
                "velocity": {
                    "x": 5.741316318511963,
                    "y": 0.11152423918247223,
                    "z": -0.20344223082065582
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6399013996124268,
                "transform": {
                    "location": {
                        "x": -1679.955078125,
                        "y": 1609.7059326171875,
                        "z": 326.4041748046875
                    },
                    "rotation": {
                        "roll": -0.01199341006577015,
                        "pitch": -2.6466026306152344,
                        "yaw": 0.9024541974067688
                    }
                },
                "velocity": {
                    "x": 0.6393309831619263,
                    "y": 0.012749699875712395,
                    "z": -0.023815913125872612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.515108585357666,
                "transform": {
                    "location": {
                        "x": -1651.009765625,
                        "y": 1609.9359130859375,
                        "z": 325.4494934082031
                    },
                    "rotation": {
                        "roll": -0.01947021298110485,
                        "pitch": -1.4006600379943848,
                        "yaw": 1.0125380754470825
                    }
                },
                "velocity": {
                    "x": 6.511366844177246,
                    "y": 0.1264796108007431,
                    "z": -0.18094177544116974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6889872550964355,
                "transform": {
                    "location": {
                        "x": -1637.1226806640625,
                        "y": 1610.039794921875,
                        "z": 325.0881652832031
                    },
                    "rotation": {
                        "roll": 0.0119004612788558,
                        "pitch": -1.2335525751113892,
                        "yaw": 0.7337824106216431
                    }
                },
                "velocity": {
                    "x": 3.687772750854492,
                    "y": 0.044997796416282654,
                    "z": -0.08327092230319977
                },
                "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": 0.023146048188209534,
        "expert_target_speed": 3.6029484030166037,
        "target_point": [
            48.799452377553855,
            0.4013991140810134
        ],
        "target_point_next": [
            99.79776045608263,
            0.8119558124654858
        ]
    },
    "45": {
        "acceleration": [
            0.12964248657226562,
            -0.015537478029727936,
            -0.0013113021850585938
        ],
        "angular_velocity": [
            -0.028848355636000633,
            0.023394489660859108,
            -0.8531937599182129
        ],
        "forward_vector": [
            0.9994304776191711,
            -0.0014777458272874355,
            -0.03371398150920868
        ],
        "right_vector": [
            0.0014626606134697795,
            0.9999988079071045,
            -0.0004721020522993058
        ],
        "location": [
            -1666.8377685546875,
            1609.7550048828125,
            325.93426513671875
        ],
        "rotation": [
            0.027064841240644455,
            -1.932034969329834,
            -0.0847167894244194
        ],
        "velocity": [
            2.662909746170044,
            -0.0051331184804439545,
            -0.08986662328243256
        ],
        "speed": 2.6629146935553045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.69182777404785,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1649.1553955078125,
                1609.970458984375,
                325.3975524902344
            ],
            "velocity": [
                7.580795764923096,
                0.12401295453310013,
                -0.20557120442390442
            ],
            "speed_kmh": 27.304547185138105,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05721378326416,
                "transform": {
                    "location": {
                        "x": -1607.653564453125,
                        "y": 1606.6982421875,
                        "z": 324.53350830078125
                    },
                    "rotation": {
                        "roll": 0.018975231796503067,
                        "pitch": 0.9303263425827026,
                        "yaw": -179.13766479492188
                    }
                },
                "velocity": {
                    "x": -8.055551528930664,
                    "y": -0.11344243586063385,
                    "z": 0.11799581348896027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.332006931304932,
                "transform": {
                    "location": {
                        "x": -1693.3992919921875,
                        "y": 1609.60400390625,
                        "z": 326.8909606933594
                    },
                    "rotation": {
                        "roll": -0.02157592587172985,
                        "pitch": -2.1605799198150635,
                        "yaw": 0.9496243000030518
                    }
                },
                "velocity": {
                    "x": 7.3267130851745605,
                    "y": 0.10059473663568497,
                    "z": -0.2597721219062805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8872796297073364,
                "transform": {
                    "location": {
                        "x": -1679.7064208984375,
                        "y": 1609.7095947265625,
                        "z": 326.3959655761719
                    },
                    "rotation": {
                        "roll": -0.011352536268532276,
                        "pitch": -2.1162657737731934,
                        "yaw": 0.8731994032859802
                    }
                },
                "velocity": {
                    "x": 1.8858758211135864,
                    "y": 0.027203673496842384,
                    "z": -0.06750565022230148
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.584596633911133,
                "transform": {
                    "location": {
                        "x": -1649.1553955078125,
                        "y": 1609.970458984375,
                        "z": 325.3975524902344
                    },
                    "rotation": {
                        "roll": -0.0011291505070403218,
                        "pitch": -1.24908447265625,
                        "yaw": 0.989719033241272
                    }
                },
                "velocity": {
                    "x": 7.580795764923096,
                    "y": 0.12401295453310013,
                    "z": -0.20557120442390442
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.577758312225342,
                "transform": {
                    "location": {
                        "x": -1636.0899658203125,
                        "y": 1610.0523681640625,
                        "z": 325.0655212402344
                    },
                    "rotation": {
                        "roll": 0.035565949976444244,
                        "pitch": -1.2156916856765747,
                        "yaw": 0.710441529750824
                    }
                },
                "velocity": {
                    "x": 4.576250076293945,
                    "y": 0.06145318225026131,
                    "z": -0.10015635937452316
                },
                "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": 0.030775299295783043,
        "expert_target_speed": 3.714436894138193,
        "target_point": [
            48.14312835902988,
            0.48903298116660154
        ],
        "target_point_next": [
            99.1406094557058,
            0.9919300574209065
        ]
    },
    "50": {
        "acceleration": [
            0.6609678268432617,
            -0.00714719295501709,
            -0.025904029607772827
        ],
        "angular_velocity": [
            0.0468275360763073,
            -0.16424787044525146,
            0.715259850025177
        ],
        "forward_vector": [
            0.9994420409202576,
            -0.0020659950096160173,
            -0.033336538821458817
        ],
        "right_vector": [
            0.002051800023764372,
            0.9999977946281433,
            -0.00046001741429790854
        ],
        "location": [
            -1666.1558837890625,
            1609.75341796875,
            325.9110412597656
        ],
        "rotation": [
            0.02637171559035778,
            -1.910396933555603,
            -0.1184387132525444
        ],
        "velocity": [
            2.787796974182129,
            -0.007541212718933821,
            -0.09487692266702652
        ],
        "speed": 2.787807173953806,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.653697967529297,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1647.51220703125,
                1610.0164794921875,
                325.35919189453125
            ],
            "velocity": [
                4.463227272033691,
                0.11631259322166443,
                -0.12081558257341385
            ],
            "speed_kmh": 16.078956877603446,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4614973068237305,
                "transform": {
                    "location": {
                        "x": -1609.4949951171875,
                        "y": 1606.6734619140625,
                        "z": 324.5632019042969
                    },
                    "rotation": {
                        "roll": 0.012731769122183323,
                        "pitch": 0.7140347957611084,
                        "yaw": -179.2450714111328
                    }
                },
                "velocity": {
                    "x": -6.459999084472656,
                    "y": -0.08362685143947601,
                    "z": 0.11120679974555969
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.460718631744385,
                "transform": {
                    "location": {
                        "x": -1691.653076171875,
                        "y": 1609.62890625,
                        "z": 326.82763671875
                    },
                    "rotation": {
                        "roll": -0.013519288040697575,
                        "pitch": -1.9822368621826172,
                        "yaw": 0.837185263633728
                    }
                },
                "velocity": {
                    "x": 6.456080913543701,
                    "y": 0.08731675148010254,
                    "z": -0.22864477336406708
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2827746868133545,
                "transform": {
                    "location": {
                        "x": -1679.129638671875,
                        "y": 1609.7178955078125,
                        "z": 326.3753662109375
                    },
                    "rotation": {
                        "roll": -0.012603759765625,
                        "pitch": -2.033750295639038,
                        "yaw": 0.857984721660614
                    }
                },
                "velocity": {
                    "x": 2.281040668487549,
                    "y": 0.032473284751176834,
                    "z": -0.0828203558921814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.466376781463623,
                "transform": {
                    "location": {
                        "x": -1647.51220703125,
                        "y": 1610.0164794921875,
                        "z": 325.35919189453125
                    },
                    "rotation": {
                        "roll": 0.0751679390668869,
                        "pitch": -1.9861438274383545,
                        "yaw": -1.107177734375
                    }
                },
                "velocity": {
                    "x": 4.463227272033691,
                    "y": 0.11631259322166443,
                    "z": -0.12081558257341385
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.277723789215088,
                "transform": {
                    "location": {
                        "x": -1634.829345703125,
                        "y": 1610.0714111328125,
                        "z": 325.03765869140625
                    },
                    "rotation": {
                        "roll": -0.02337646298110485,
                        "pitch": -1.2445013523101807,
                        "yaw": 0.8230517506599426
                    }
                },
                "velocity": {
                    "x": 5.275715351104736,
                    "y": 0.08765944093465805,
                    "z": -0.11624101549386978
                },
                "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": 0.03829434886574745,
        "expert_target_speed": 3.834485431180056,
        "target_point": [
            47.46094561848618,
            0.5175442153081434
        ],
        "target_point_next": [
            98.45812190988921,
            1.0504550696564796
        ]
    },
    "55": {
        "acceleration": [
            0.934147834777832,
            -0.00469570979475975,
            -0.02840295433998108
        ],
        "angular_velocity": [
            -0.02518625371158123,
            -0.24825918674468994,
            -0.7784130573272705
        ],
        "forward_vector": [
            0.9994737505912781,
            -0.00246213236823678,
            -0.03234429657459259
        ],
        "right_vector": [
            0.0024492961820214987,
            0.9999969005584717,
            -0.0004364767810329795
        ],
        "location": [
            -1665.4315185546875,
            1609.7515869140625,
            325.88623046875
        ],
        "rotation": [
            0.025021368637681007,
            -1.8535151481628418,
            -0.141143798828125
        ],
        "velocity": [
            3.002016544342041,
            -0.00882222130894661,
            -0.10139302164316177
        ],
        "speed": 3.0020295075318884,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.283824920654297,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1647.1575927734375,
                1610.037353515625,
                325.3568420410156
            ],
            "velocity": [
                -0.003966956865042448,
                0.0008491468033753335,
                0.0012841828865930438
            ],
            "speed_kmh": 0.015318802787004891,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.198233604431152,
                "transform": {
                    "location": {
                        "x": -1611.0487060546875,
                        "y": 1606.654296875,
                        "z": 324.5899963378906
                    },
                    "rotation": {
                        "roll": 0.012808645144104958,
                        "pitch": 0.8712452054023743,
                        "yaw": -179.29342651367188
                    }
                },
                "velocity": {
                    "x": -6.19686222076416,
                    "y": -0.07032424211502075,
                    "z": 0.10979245603084564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.717607021331787,
                "transform": {
                    "location": {
                        "x": -1690.200927734375,
                        "y": 1609.648681640625,
                        "z": 326.775146484375
                    },
                    "rotation": {
                        "roll": -0.011138916946947575,
                        "pitch": -1.8886700868606567,
                        "yaw": 0.8003853559494019
                    }
                },
                "velocity": {
                    "x": 4.714017868041992,
                    "y": 0.06363854557275772,
                    "z": -0.17264129221439362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.749340057373047,
                "transform": {
                    "location": {
                        "x": -1678.5306396484375,
                        "y": 1609.7261962890625,
                        "z": 326.3537902832031
                    },
                    "rotation": {
                        "roll": -0.01232910342514515,
                        "pitch": -2.0211143493652344,
                        "yaw": 0.8391149044036865
                    }
                },
                "velocity": {
                    "x": 2.7472798824310303,
                    "y": 0.03858623653650284,
                    "z": -0.09917589277029037
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004255223087966442,
                "transform": {
                    "location": {
                        "x": -1647.1575927734375,
                        "y": 1610.037353515625,
                        "z": 325.3568420410156
                    },
                    "rotation": {
                        "roll": 0.23477870225906372,
                        "pitch": -2.8522937297821045,
                        "yaw": -1.829651117324829
                    }
                },
                "velocity": {
                    "x": -0.003966956865042448,
                    "y": 0.0008491468033753335,
                    "z": 0.0012841828865930438
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.994065761566162,
                "transform": {
                    "location": {
                        "x": -1633.4532470703125,
                        "y": 1610.088134765625,
                        "z": 325.0084533691406
                    },
                    "rotation": {
                        "roll": -0.0023498532827943563,
                        "pitch": -1.2160673141479492,
                        "yaw": 1.0315804481506348
                    }
                },
                "velocity": {
                    "x": 5.992392539978027,
                    "y": 0.06955163925886154,
                    "z": -0.1233682632446289
                },
                "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": 0.050685036927461624,
        "expert_target_speed": 3.991024530943597,
        "target_point": [
            46.736369267532766,
            0.5363972913897015
        ],
        "target_point_next": [
            97.73333038845004,
            1.08951582007415
        ]
    },
    "60": {
        "acceleration": [
            1.0538911819458008,
            -0.00653611496090889,
            -0.026925355195999146
        ],
        "angular_velocity": [
            0.003392869606614113,
            -0.057227712124586105,
            0.5717231035232544
        ],
        "forward_vector": [
            0.9994919300079346,
            -0.002630404429510236,
            -0.03176499903202057
        ],
        "right_vector": [
            0.002618672326207161,
            0.999996542930603,
            -0.0004109374713152647
        ],
        "location": [
            -1664.64892578125,
            1609.7491455078125,
            325.8600769042969
        ],
        "rotation": [
            0.023556871339678764,
            -1.8203067779541016,
            -0.1507873386144638
        ],
        "velocity": [
            3.251840353012085,
            -0.010390275157988071,
            -0.10681027919054031
        ],
        "speed": 3.251856952465102,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.636760711669922,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1647.0220947265625,
                1610.0369873046875,
                325.34307861328125
            ],
            "velocity": [
                0.7833389043807983,
                -0.00175769766792655,
                -0.019309472292661667
            ],
            "speed_kmh": 2.820883791477093,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.603926181793213,
                "transform": {
                    "location": {
                        "x": -1612.7008056640625,
                        "y": 1606.63623046875,
                        "z": 324.6195068359375
                    },
                    "rotation": {
                        "roll": 0.008913198485970497,
                        "pitch": 1.2681474685668945,
                        "yaw": -179.36619567871094
                    }
                },
                "velocity": {
                    "x": -7.602311134338379,
                    "y": -0.07966545224189758,
                    "z": 0.13494248688220978
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009114529239013791,
                "transform": {
                    "location": {
                        "x": -1689.723388671875,
                        "y": 1609.6553955078125,
                        "z": 326.7554931640625
                    },
                    "rotation": {
                        "roll": -0.0076904296875,
                        "pitch": -1.5872471332550049,
                        "yaw": 0.7441302537918091
                    }
                },
                "velocity": {
                    "x": -0.0007631319458596408,
                    "y": -5.8510337908046495e-08,
                    "z": 0.0004983733524568379
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.294372081756592,
                "transform": {
                    "location": {
                        "x": -1677.6453857421875,
                        "y": 1609.73876953125,
                        "z": 326.3220520019531
                    },
                    "rotation": {
                        "roll": -0.01214599423110485,
                        "pitch": -1.8840938806533813,
                        "yaw": 0.8256162405014038
                    }
                },
                "velocity": {
                    "x": 4.291134357452393,
                    "y": 0.060221653431653976,
                    "z": -0.15547284483909607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7835788130760193,
                "transform": {
                    "location": {
                        "x": -1647.0220947265625,
                        "y": 1610.0369873046875,
                        "z": 325.34307861328125
                    },
                    "rotation": {
                        "roll": 0.07533072680234909,
                        "pitch": -1.560021996498108,
                        "yaw": -1.7254332304000854
                    }
                },
                "velocity": {
                    "x": 0.7833389043807983,
                    "y": -0.00175769766792655,
                    "z": -0.019309472292661667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.076685905456543,
                "transform": {
                    "location": {
                        "x": -1631.8221435546875,
                        "y": 1610.1065673828125,
                        "z": 324.97369384765625
                    },
                    "rotation": {
                        "roll": -0.025421142578125,
                        "pitch": -1.1102608442306519,
                        "yaw": 1.288077712059021
                    }
                },
                "velocity": {
                    "x": 7.074376583099365,
                    "y": 0.10700390487909317,
                    "z": -0.14570483565330505
                },
                "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": 0.06694617867469788,
        "expert_target_speed": 4.216066042561913,
        "target_point": [
            45.95368182873085,
            0.5446459334375345
        ],
        "target_point_next": [
            96.95054912434908,
            1.1063484420900647
        ]
    },
    "65": {
        "acceleration": [
            1.1700201034545898,
            -0.00879695639014244,
            -0.040463656187057495
        ],
        "angular_velocity": [
            -0.01167081855237484,
            -0.07156825065612793,
            -0.6126522421836853
        ],
        "forward_vector": [
            0.9994984269142151,
            -0.003041411517187953,
            -0.031520746648311615
        ],
        "right_vector": [
            0.0030293206218630075,
            0.9999952912330627,
            -0.000431326508987695
        ],
        "location": [
            -1663.7994384765625,
            1609.746337890625,
            325.83209228515625
        ],
        "rotation": [
            0.024725474417209625,
            -1.806304931640625,
            -0.1743469387292862
        ],
        "velocity": [
            3.535132646560669,
            -0.012344407849013805,
            -0.11644506454467773
        ],
        "speed": 3.535154199350317,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.03390884399414,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1646.7752685546875,
                1610.0360107421875,
                325.3343200683594
            ],
            "velocity": [
                1.011367678642273,
                0.00432424945756793,
                -0.026636390015482903
            ],
            "speed_kmh": 3.642219433312688,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.37066650390625,
                "transform": {
                    "location": {
                        "x": -1614.775634765625,
                        "y": 1606.6148681640625,
                        "z": 324.65728759765625
                    },
                    "rotation": {
                        "roll": 0.005638389382511377,
                        "pitch": 1.2717537879943848,
                        "yaw": -179.40499877929688
                    }
                },
                "velocity": {
                    "x": -8.368724822998047,
                    "y": -0.0858413428068161,
                    "z": 0.15854257345199585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.247929334640503,
                "transform": {
                    "location": {
                        "x": -1689.5413818359375,
                        "y": 1609.6575927734375,
                        "z": 326.752685546875
                    },
                    "rotation": {
                        "roll": -0.008361817337572575,
                        "pitch": -2.0280470848083496,
                        "yaw": 0.7129718065261841
                    }
                },
                "velocity": {
                    "x": 1.247090220451355,
                    "y": 0.012959461659193039,
                    "z": -0.04388255998492241
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.447728157043457,
                "transform": {
                    "location": {
                        "x": -1676.3936767578125,
                        "y": 1609.756103515625,
                        "z": 326.277099609375
                    },
                    "rotation": {
                        "roll": -0.011138916015625,
                        "pitch": -1.888396978378296,
                        "yaw": 0.8078672289848328
                    }
                },
                "velocity": {
                    "x": 5.443666934967041,
                    "y": 0.07576558738946915,
                    "z": -0.19618800282478333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0117276906967163,
                "transform": {
                    "location": {
                        "x": -1646.7752685546875,
                        "y": 1610.0360107421875,
                        "z": 325.3343200683594
                    },
                    "rotation": {
                        "roll": 0.0330723337829113,
                        "pitch": -1.2755719423294067,
                        "yaw": -1.4907838106155396
                    }
                },
                "velocity": {
                    "x": 1.011367678642273,
                    "y": 0.00432424945756793,
                    "z": -0.026636390015482903
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.675775051116943,
                "transform": {
                    "location": {
                        "x": -1629.9324951171875,
                        "y": 1610.1390380859375,
                        "z": 324.9358215332031
                    },
                    "rotation": {
                        "roll": -0.015563963912427425,
                        "pitch": -1.099639892578125,
                        "yaw": 1.1572825908660889
                    }
                },
                "velocity": {
                    "x": 7.673158168792725,
                    "y": 0.13180123269557953,
                    "z": -0.1509842872619629
                },
                "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": 0.07431603223085403,
        "expert_target_speed": 4.46358294184579,
        "target_point": [
            45.103962096686466,
            0.5637625831801972
        ],
        "target_point_next": [
            96.1005941363048,
            1.146432550567405
        ]
    },
    "70": {
        "acceleration": [
            0.8925580978393555,
            -0.00936891883611679,
            -0.02640947699546814
        ],
        "angular_velocity": [
            0.02151433378458023,
            0.05933048203587532,
            0.3692299723625183
        ],
        "forward_vector": [
            0.9994988441467285,
            -0.0032868352718651295,
            -0.031483449041843414
        ],
        "right_vector": [
            0.003274562768638134,
            0.9999945163726807,
            -0.0004413614224176854
        ],
        "location": [
            -1662.8795166015625,
            1609.7430419921875,
            325.8017883300781
        ],
        "rotation": [
            0.02530069090425968,
            -1.8041670322418213,
            -0.18841552734375
        ],
        "velocity": [
            3.7976977825164795,
            -0.014542062766849995,
            -0.12483586370944977
        ],
        "speed": 3.7977256244915982,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.371129989624023,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1646.517822265625,
                1610.03564453125,
                325.32928466796875
            ],
            "velocity": [
                1.1925532817840576,
                0.006124539766460657,
                -0.03094450943171978
            ],
            "speed_kmh": 4.294693481144655,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.786125659942627,
                "transform": {
                    "location": {
                        "x": -1616.7801513671875,
                        "y": 1606.594970703125,
                        "z": 324.695068359375
                    },
                    "rotation": {
                        "roll": 0.005836536642163992,
                        "pitch": 1.0351834297180176,
                        "yaw": -179.43995666503906
                    }
                },
                "velocity": {
                    "x": -7.784389495849609,
                    "y": -0.07348553091287613,
                    "z": 0.14708669483661652
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1405487060546875,
                "transform": {
                    "location": {
                        "x": -1689.115234375,
                        "y": 1609.6624755859375,
                        "z": 326.73822021484375
                    },
                    "rotation": {
                        "roll": -0.007812499534338713,
                        "pitch": -2.1191959381103516,
                        "yaw": 0.6893291473388672
                    }
                },
                "velocity": {
                    "x": 2.1390748023986816,
                    "y": 0.02256501466035843,
                    "z": -0.07614218443632126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.25892892479896545,
                "transform": {
                    "location": {
                        "x": -1675.564697265625,
                        "y": 1609.767578125,
                        "z": 326.2456970214844
                    },
                    "rotation": {
                        "roll": 0.008733436465263367,
                        "pitch": -2.659545660018921,
                        "yaw": 0.479430228471756
                    }
                },
                "velocity": {
                    "x": 0.2586941123008728,
                    "y": 0.005361680407077074,
                    "z": -0.009633064270019531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1929703950881958,
                "transform": {
                    "location": {
                        "x": -1646.517822265625,
                        "y": 1610.03564453125,
                        "z": 325.32928466796875
                    },
                    "rotation": {
                        "roll": 0.0441625602543354,
                        "pitch": -1.5021361112594604,
                        "yaw": -1.265106439590454
                    }
                },
                "velocity": {
                    "x": 1.1925532817840576,
                    "y": 0.006124539766460657,
                    "z": -0.03094450943171978
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.751201629638672,
                "transform": {
                    "location": {
                        "x": -1627.7730712890625,
                        "y": 1610.1737060546875,
                        "z": 324.8935852050781
                    },
                    "rotation": {
                        "roll": -0.004821775481104851,
                        "pitch": -1.092618465423584,
                        "yaw": 0.8528270721435547
                    }
                },
                "velocity": {
                    "x": 8.748788833618164,
                    "y": 0.11912205070257187,
                    "z": -0.1674211025238037
                },
                "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": 0.08549762517213821,
        "expert_target_speed": 4.680481069154452,
        "target_point": [
            44.183894553455524,
            0.5751095536315346
        ],
        "target_point_next": [
            95.18038196846862,
            1.1703028042102095
        ]
    },
    "75": {
        "acceleration": [
            0.5194425582885742,
            0.04914900287985802,
            0.0010794401168823242
        ],
        "angular_velocity": [
            0.01758105866611004,
            -0.04285986348986626,
            0.21068139374256134
        ],
        "forward_vector": [
            0.999500572681427,
            -0.0011025305138900876,
            -0.031581390649080276
        ],
        "right_vector": [
            0.0011033836053684354,
            0.9999994039535522,
            9.582598067936487e-06
        ],
        "location": [
            -1661.906494140625,
            1609.7437744140625,
            325.770263671875
        ],
        "rotation": [
            -0.00054931640625,
            -1.8097814321517944,
            -0.0632018893957138
        ],
        "velocity": [
            3.9649112224578857,
            0.011004473082721233,
            -0.1259378045797348
        ],
        "speed": 3.9649264936944686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.872607231140137,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1646.0430908203125,
                1610.0352783203125,
                325.3151550292969
            ],
            "velocity": [
                2.5531134605407715,
                0.01486178208142519,
                -0.06768614798784256
            ],
            "speed_kmh": 9.194593550532476,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.118013381958008,
                "transform": {
                    "location": {
                        "x": -1618.7564697265625,
                        "y": 1606.5765380859375,
                        "z": 324.7322082519531
                    },
                    "rotation": {
                        "roll": 0.0028778454288840294,
                        "pitch": 1.1232860088348389,
                        "yaw": -179.47010803222656
                    }
                },
                "velocity": {
                    "x": -8.116244316101074,
                    "y": -0.07393869012594223,
                    "z": 0.15248188376426697
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9534486532211304,
                "transform": {
                    "location": {
                        "x": -1688.56591796875,
                        "y": 1609.668212890625,
                        "z": 326.7179870605469
                    },
                    "rotation": {
                        "roll": -0.006835937034338713,
                        "pitch": -2.036857843399048,
                        "yaw": 0.6735451221466064
                    }
                },
                "velocity": {
                    "x": 1.9521082639694214,
                    "y": 0.021036339923739433,
                    "z": -0.06922928988933563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6477314233779907,
                "transform": {
                    "location": {
                        "x": -1675.360595703125,
                        "y": 1609.770263671875,
                        "z": 326.2390441894531
                    },
                    "rotation": {
                        "roll": 0.0025253945495933294,
                        "pitch": -2.1264631748199463,
                        "yaw": 0.505521297454834
                    }
                },
                "velocity": {
                    "x": 1.6465412378311157,
                    "y": 0.019940106198191643,
                    "z": -0.05935543030500412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.554053783416748,
                "transform": {
                    "location": {
                        "x": -1646.0430908203125,
                        "y": 1610.0352783203125,
                        "z": 325.3151550292969
                    },
                    "rotation": {
                        "roll": 0.019048400223255157,
                        "pitch": -1.3024896383285522,
                        "yaw": -0.9052731990814209
                    }
                },
                "velocity": {
                    "x": 2.5531134605407715,
                    "y": 0.01486178208142519,
                    "z": -0.06768614798784256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.25057601928711,
                "transform": {
                    "location": {
                        "x": -1625.6607666015625,
                        "y": 1610.2025146484375,
                        "z": 324.853271484375
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -1.0855697393417358,
                        "yaw": 0.6338977813720703
                    }
                },
                "velocity": {
                    "x": 8.248514175415039,
                    "y": 0.09801452606916428,
                    "z": -0.15623845160007477
                },
                "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": 0.08717568218708038,
        "expert_target_speed": 4.833443491221241,
        "target_point": [
            43.21202479893514,
            0.4767454367613356
        ],
        "target_point_next": [
            94.20969114261051,
            0.9604924515148291
        ]
    },
    "80": {
        "acceleration": [
            0.4787731170654297,
            0.04566065967082977,
            -0.0032395124435424805
        ],
        "angular_velocity": [
            0.03657662123441696,
            -0.1339019387960434,
            0.9561916589736938
        ],
        "forward_vector": [
            0.9995120167732239,
            0.0016190333990380168,
            -0.03119439259171486
        ],
        "right_vector": [
            -0.0016172464238479733,
            0.9999986886978149,
            8.251780673163012e-05
        ],
        "location": [
            -1660.899658203125,
            1609.747314453125,
            325.7383117675781
        ],
        "rotation": [
            -0.004730224143713713,
            -1.7875970602035522,
            0.09280899167060852
        ],
        "velocity": [
            4.082643508911133,
            0.02227342128753662,
            -0.12877443432807922
        ],
        "speed": 4.082704266310512,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.718137741088867,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1645.1905517578125,
                1610.0374755859375,
                325.29150390625
            ],
            "velocity": [
                4.342720985412598,
                0.03343649208545685,
                -0.10850726813077927
            ],
            "speed_kmh": 15.63913812486627,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.071799278259277,
                "transform": {
                    "location": {
                        "x": -1620.79541015625,
                        "y": 1606.55810546875,
                        "z": 324.77044677734375
                    },
                    "rotation": {
                        "roll": 0.002421310171484947,
                        "pitch": 1.0880968570709229,
                        "yaw": -179.4866180419922
                    }
                },
                "velocity": {
                    "x": -8.07006549835205,
                    "y": -0.07139675319194794,
                    "z": 0.15127918124198914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8932578563690186,
                "transform": {
                    "location": {
                        "x": -1688.118896484375,
                        "y": 1609.6732177734375,
                        "z": 326.7019958496094
                    },
                    "rotation": {
                        "roll": -0.006561279296875,
                        "pitch": -2.0228219032287598,
                        "yaw": 0.6596882343292236
                    }
                },
                "velocity": {
                    "x": 1.8919552564620972,
                    "y": 0.020034680142998695,
                    "z": -0.06729983538389206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0574488639831543,
                "transform": {
                    "location": {
                        "x": -1674.7718505859375,
                        "y": 1609.777099609375,
                        "z": 326.2180480957031
                    },
                    "rotation": {
                        "roll": -0.003936767112463713,
                        "pitch": -1.91643488407135,
                        "yaw": 0.6164658665657043
                    }
                },
                "velocity": {
                    "x": 3.0552752017974854,
                    "y": 0.03387301042675972,
                    "z": -0.11018140614032745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.344204902648926,
                "transform": {
                    "location": {
                        "x": -1645.1905517578125,
                        "y": 1610.0374755859375,
                        "z": 325.29150390625
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -1.0936225652694702,
                        "yaw": -0.4366149604320526
                    }
                },
                "velocity": {
                    "x": 4.342720985412598,
                    "y": 0.03343649208545685,
                    "z": -0.10850726813077927
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.647775173187256,
                "transform": {
                    "location": {
                        "x": -1623.641845703125,
                        "y": 1610.2254638671875,
                        "z": 324.81549072265625
                    },
                    "rotation": {
                        "roll": 0.0007908780826255679,
                        "pitch": -1.085754156112671,
                        "yaw": 0.536223292350769
                    }
                },
                "velocity": {
                    "x": 7.646053314208984,
                    "y": 0.07697766274213791,
                    "z": -0.14286178350448608
                },
                "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": 0.08584178984165192,
        "expert_target_speed": 4.97076983716343,
        "target_point": [
            42.20632241391748,
            0.3571692939523835
        ],
        "target_point_next": [
            93.20511692488202,
            0.702049133222668
        ]
    },
    "85": {
        "acceleration": [
            0.5204391479492188,
            0.047326087951660156,
            -0.01415342092514038
        ],
        "angular_velocity": [
            0.0027422206476330757,
            -0.17733262479305267,
            0.3487398326396942
        ],
        "forward_vector": [
            0.9995250105857849,
            0.004297642968595028,
            -0.03051605634391308
        ],
        "right_vector": [
            -0.004294899292290211,
            0.9999907612800598,
            0.00015545613132417202
        ],
        "location": [
            -1659.8629150390625,
            1609.75390625,
            325.7053527832031
        ],
        "rotation": [
            -0.00891113094985485,
            -1.7487127780914307,
            0.24635227024555206
        ],
        "velocity": [
            4.20541524887085,
            0.0342000387609005,
            -0.13331212103366852
        ],
        "speed": 4.205554310443121,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.963303565979004,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1643.908447265625,
                1610.043212890625,
                325.260009765625
            ],
            "velocity": [
                5.30775260925293,
                0.04461658000946045,
                -0.1312917172908783
            ],
            "speed_kmh": 19.114429059271632,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1580.783447265625,
                        "y": 1606.9906005859375,
                        "z": 324.4406433105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12844853103160858,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.945427417755127,
                "transform": {
                    "location": {
                        "x": -1622.7862548828125,
                        "y": 1606.5404052734375,
                        "z": 324.80780029296875
                    },
                    "rotation": {
                        "roll": 0.0017504647839814425,
                        "pitch": 1.065290927886963,
                        "yaw": -179.49783325195312
                    }
                },
                "velocity": {
                    "x": -7.943716049194336,
                    "y": -0.06962724775075912,
                    "z": 0.14948470890522003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.005636215209961,
                "transform": {
                    "location": {
                        "x": -1687.5924072265625,
                        "y": 1609.6790771484375,
                        "z": 326.6833801269531
                    },
                    "rotation": {
                        "roll": -0.005889891181141138,
                        "pitch": -2.0436949729919434,
                        "yaw": 0.648576557636261
                    }
                },
                "velocity": {
                    "x": 2.0042593479156494,
                    "y": 0.02123318798840046,
                    "z": -0.07120809704065323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.6279120445251465,
                "transform": {
                    "location": {
                        "x": -1673.7977294921875,
                        "y": 1609.7877197265625,
                        "z": 326.1828918457031
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -1.855161190032959,
                        "yaw": 0.624505877494812
                    }
                },
                "velocity": {
                    "x": 4.624629497528076,
                    "y": 0.050343599170446396,
                    "z": -0.16684558987617493
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.309563636779785,
                "transform": {
                    "location": {
                        "x": -1643.908447265625,
                        "y": 1610.043212890625,
                        "z": 325.260009765625
                    },
                    "rotation": {
                        "roll": -0.004211425315588713,
                        "pitch": -1.1119683980941772,
                        "yaw": 0.04343223199248314
                    }
                },
                "velocity": {
                    "x": 5.30775260925293,
                    "y": 0.04461658000946045,
                    "z": -0.1312917172908783
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.480352878570557,
                "transform": {
                    "location": {
                        "x": -1621.9342041015625,
                        "y": 1610.2421875,
                        "z": 324.7837829589844
                    },
                    "rotation": {
                        "roll": 0.0009821071289479733,
                        "pitch": -1.1119956970214844,
                        "yaw": 0.5055474042892456
                    }
                },
                "velocity": {
                    "x": 6.478936195373535,
                    "y": 0.05998111143708229,
                    "z": -0.12150485813617706
                },
                "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": 0.07961837202310562,
        "expert_target_speed": 5.12020608133228,
        "target_point": [
            41.170366089120684,
            0.2419285147788296
        ],
        "target_point_next": [
            92.16990169371512,
            0.4501394434736124
        ]
    },
    "90": {
        "acceleration": [
            0.7247352600097656,
            -0.01774221658706665,
            -0.007192492485046387
        ],
        "angular_velocity": [
            -0.018180204555392265,
            -0.03260383382439613,
            0.6569844484329224
        ],
        "forward_vector": [
            0.9995228052139282,
            0.006958141457289457,
            -0.030094368383288383
        ],
        "right_vector": [
            -0.006955684162676334,
            0.9999758005142212,
            0.000186336794286035
        ],
        "location": [
            -1658.791259765625,
            1609.763427734375,
            325.671875
        ],
        "rotation": [
            -0.010681149549782276,
            -1.7245407104492188,
            0.3988560140132904
        ],
        "velocity": [
            4.368838787078857,
            0.04206651449203491,
            -0.13407161831855774
        ],
        "speed": 4.369041306639955,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.471893310546875,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1642.328125,
                1610.0540771484375,
                325.22027587890625
            ],
            "velocity": [
                7.068897724151611,
                0.07223894447088242,
                -0.17610915005207062
            ],
            "speed_kmh": 25.457256356551984,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1582.8663330078125,
                        "y": 1606.97314453125,
                        "z": 324.4045715332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12844853103160858,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.095952033996582,
                "transform": {
                    "location": {
                        "x": -1624.795166015625,
                        "y": 1606.52294921875,
                        "z": 324.8454895019531
                    },
                    "rotation": {
                        "roll": 0.0013831687392666936,
                        "pitch": 1.1028432846069336,
                        "yaw": -179.5047607421875
                    }
                },
                "velocity": {
                    "x": -8.094230651855469,
                    "y": -0.06988133490085602,
                    "z": 0.15161234140396118
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6435992121696472,
                "transform": {
                    "location": {
                        "x": -1687.38671875,
                        "y": 1609.6815185546875,
                        "z": 326.67498779296875
                    },
                    "rotation": {
                        "roll": -0.004638672806322575,
                        "pitch": -1.9132109880447388,
                        "yaw": 0.6303719282150269
                    }
                },
                "velocity": {
                    "x": 0.6430853009223938,
                    "y": 0.011196646839380264,
                    "z": -0.02314971387386322
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.506858825683594,
                "transform": {
                    "location": {
                        "x": -1672.4915771484375,
                        "y": 1609.8021240234375,
                        "z": 326.1364440917969
                    },
                    "rotation": {
                        "roll": -0.005462646484375,
                        "pitch": -1.9044820070266724,
                        "yaw": 0.6300129890441895
                    }
                },
                "velocity": {
                    "x": 5.502989292144775,
                    "y": 0.06086152419447899,
                    "z": -0.19722817838191986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.071459770202637,
                "transform": {
                    "location": {
                        "x": -1642.328125,
                        "y": 1610.0540771484375,
                        "z": 325.22027587890625
                    },
                    "rotation": {
                        "roll": -0.014190672896802425,
                        "pitch": -1.0925296545028687,
                        "yaw": 0.5038174986839294
                    }
                },
                "velocity": {
                    "x": 7.068897724151611,
                    "y": 0.07223894447088242,
                    "z": -0.17610915005207062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.939442157745361,
                "transform": {
                    "location": {
                        "x": -1620.27587890625,
                        "y": 1610.2574462890625,
                        "z": 324.7522888183594
                    },
                    "rotation": {
                        "roll": -0.00024414018844254315,
                        "pitch": -1.071014642715454,
                        "yaw": 0.5087176561355591
                    }
                },
                "velocity": {
                    "x": 6.9379472732543945,
                    "y": 0.06226840987801552,
                    "z": -0.12988461554050446
                },
                "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": 0.07607515156269073,
        "expert_target_speed": 5.332651804542012,
        "target_point": [
            40.09916860243002,
            0.1302833129291865
        ],
        "target_point_next": [
            91.09907774501853,
            0.2027479445687983
        ]
    },
    "95": {
        "acceleration": [
            0.7233047485351562,
            -0.03145173192024231,
            -0.02742171287536621
        ],
        "angular_velocity": [
            -0.055099353194236755,
            -0.015582145191729069,
            -0.07651596516370773
        ],
        "forward_vector": [
            0.999519407749176,
            0.00787484273314476,
            -0.029981648549437523
        ],
        "right_vector": [
            -0.007878679782152176,
            0.999968945980072,
            -9.84386042546248e-06
        ],
        "location": [
            -1657.6749267578125,
            1609.7730712890625,
            325.6375732421875
        ],
        "rotation": [
            0.0005642653559334576,
            -1.7180793285369873,
            0.4514029026031494
        ],
        "velocity": [
            4.551962375640869,
            0.03772086277604103,
            -0.14004352688789368
        ],
        "speed": 4.5521186641759055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.28411293029785,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1640.399658203125,
                1610.0733642578125,
                325.1733703613281
            ],
            "velocity": [
                8.516133308410645,
                0.09691984206438065,
                -0.20464769005775452
            ],
            "speed_kmh": 30.66891547718163,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1584.94921875,
                        "y": 1606.9556884765625,
                        "z": 324.3684997558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12844853103160858,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.005743980407715,
                "transform": {
                    "location": {
                        "x": -1626.808837890625,
                        "y": 1606.505859375,
                        "z": 324.8836975097656
                    },
                    "rotation": {
                        "roll": 0.0002721105993259698,
                        "pitch": 1.0974063873291016,
                        "yaw": -179.51463317871094
                    }
                },
                "velocity": {
                    "x": -8.003942489624023,
                    "y": -0.06868258118629456,
                    "z": 0.1553218811750412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.567825436592102,
                "transform": {
                    "location": {
                        "x": -1687.0946044921875,
                        "y": 1609.684326171875,
                        "z": 326.6660461425781
                    },
                    "rotation": {
                        "roll": -0.006195070222020149,
                        "pitch": -2.097564697265625,
                        "yaw": 0.6465973854064941
                    }
                },
                "velocity": {
                    "x": 1.5667351484298706,
                    "y": 0.016463324427604675,
                    "z": -0.05609356611967087
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.557031631469727,
                "transform": {
                    "location": {
                        "x": -1671.0465087890625,
                        "y": 1609.8182373046875,
                        "z": 326.0846862792969
                    },
                    "rotation": {
                        "roll": -0.006164551712572575,
                        "pitch": -1.865167498588562,
                        "yaw": 0.638444185256958
                    }
                },
                "velocity": {
                    "x": 6.552407264709473,
                    "y": 0.0737275630235672,
                    "z": -0.234918475151062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.519143104553223,
                "transform": {
                    "location": {
                        "x": -1640.399658203125,
                        "y": 1610.0733642578125,
                        "z": 325.1733703613281
                    },
                    "rotation": {
                        "roll": -0.01348876953125,
                        "pitch": -1.095937967300415,
                        "yaw": 0.6698500514030457
                    }
                },
                "velocity": {
                    "x": 8.516133308410645,
                    "y": 0.09691984206438065,
                    "z": -0.20464769005775452
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.345127582550049,
                "transform": {
                    "location": {
                        "x": -1618.4642333984375,
                        "y": 1610.2730712890625,
                        "z": 324.7182312011719
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -1.058897852897644,
                        "yaw": 0.5004460215568542
                    }
                },
                "velocity": {
                    "x": 7.343567371368408,
                    "y": 0.06305702775716782,
                    "z": -0.13762801885604858
                },
                "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": 0.0734635666012764,
        "expert_target_speed": 5.562187093787499,
        "target_point": [
            38.982896881841384,
            0.09266088122934546
        ],
        "target_point_next": [
            89.98285103383823,
            0.11835464198545853
        ]
    },
    "100": {
        "acceleration": [
            0.6692409515380859,
            0.003190338611602783,
            0.01885443925857544
        ],
        "angular_velocity": [
            -0.014766344800591469,
            -0.1553840935230255,
            0.03549191728234291
        ],
        "forward_vector": [
            0.9995242357254028,
            0.007833844982087612,
            -0.029830915853381157
        ],
        "right_vector": [
            -0.007839232683181763,
            0.9999693036079407,
            -6.364970613503829e-05
        ],
        "location": [
            -1656.5140380859375,
            1609.7818603515625,
            325.60211181640625
        ],
        "rotation": [
            0.0036484834272414446,
            -1.7094391584396362,
            0.4490506947040558
        ],
        "velocity": [
            4.725884914398193,
            0.036524102091789246,
            -0.14142964780330658
        ],
        "speed": 4.726026050940688,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.284109115600586,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1638.2388916015625,
                1610.0972900390625,
                325.12445068359375
            ],
            "velocity": [
                8.483625411987305,
                0.08959833532571793,
                -0.19131533801555634
            ],
            "speed_kmh": 30.550519193348613,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1587.031982421875,
                        "y": 1606.9381103515625,
                        "z": 324.37103271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.14489562809467316,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.027097702026367,
                "transform": {
                    "location": {
                        "x": -1628.8094482421875,
                        "y": 1606.48876953125,
                        "z": 324.92236328125
                    },
                    "rotation": {
                        "roll": -0.00030517636332660913,
                        "pitch": 1.1503950357437134,
                        "yaw": -179.5107421875
                    }
                },
                "velocity": {
                    "x": -8.025285720825195,
                    "y": -0.06856492906808853,
                    "z": 0.15615108609199524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.528735399246216,
                "transform": {
                    "location": {
                        "x": -1686.5775146484375,
                        "y": 1609.68994140625,
                        "z": 326.6478271484375
                    },
                    "rotation": {
                        "roll": -0.005645751487463713,
                        "pitch": -2.1250903606414795,
                        "yaw": 0.6372868418693542
                    }
                },
                "velocity": {
                    "x": 2.5269877910614014,
                    "y": 0.02589476853609085,
                    "z": -0.0903596356511116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.524590969085693,
                "transform": {
                    "location": {
                        "x": -1669.2467041015625,
                        "y": 1609.837646484375,
                        "z": 326.0212707519531
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": -1.8608371019363403,
                        "yaw": 0.6175069808959961
                    }
                },
                "velocity": {
                    "x": 7.51954460144043,
                    "y": 0.07783302664756775,
                    "z": -0.2643124461174011
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.486254692077637,
                "transform": {
                    "location": {
                        "x": -1638.2388916015625,
                        "y": 1610.0972900390625,
                        "z": 325.12445068359375
                    },
                    "rotation": {
                        "roll": 0.00010903860675171018,
                        "pitch": -1.2446516752243042,
                        "yaw": 0.6531962752342224
                    }
                },
                "velocity": {
                    "x": 8.483625411987305,
                    "y": 0.08959833532571793,
                    "z": -0.19131533801555634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.863857269287109,
                "transform": {
                    "location": {
                        "x": -1616.6893310546875,
                        "y": 1610.2884521484375,
                        "z": 324.6852111816406
                    },
                    "rotation": {
                        "roll": -6.1034948885207996e-05,
                        "pitch": -1.0867581367492676,
                        "yaw": 0.4900740087032318
                    }
                },
                "velocity": {
                    "x": 6.862398624420166,
                    "y": 0.05858667194843292,
                    "z": -0.1287822723388672
                },
                "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": 0.07637825608253479,
        "expert_target_speed": 5.75882116212696,
        "target_point": [
            37.821971148193555,
            0.09456902263939232
        ],
        "target_point_next": [
            88.8219242036586,
            0.12235418926905939
        ]
    },
    "105": {
        "acceleration": [
            0.6357097625732422,
            0.004171878099441528,
            -0.03357589244842529
        ],
        "angular_velocity": [
            0.0031745994929224253,
            -0.22975265979766846,
            -0.026788601651787758
        ],
        "forward_vector": [
            0.9995519518852234,
            0.007736549247056246,
            -0.028913041576743126
        ],
        "right_vector": [
            -0.007741066627204418,
            0.999970018863678,
            -4.429825276019983e-05
        ],
        "location": [
            -1655.310791015625,
            1609.7908935546875,
            325.56640625
        ],
        "rotation": [
            0.0025391646195203066,
            -1.6568262577056885,
            0.44346144795417786
        ],
        "velocity": [
            4.888279438018799,
            0.03729875013232231,
            -0.14394956827163696
        ],
        "speed": 4.888421735173718,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.134246826171875,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1636.185546875,
                1610.118896484375,
                325.0797119140625
            ],
            "velocity": [
                8.01095962524414,
                0.08003649860620499,
                -0.17722980678081512
            ],
            "speed_kmh": 28.84795041423306,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026806831359863,
                "transform": {
                    "location": {
                        "x": -1589.063232421875,
                        "y": 1606.9071044921875,
                        "z": 324.37322998046875
                    },
                    "rotation": {
                        "roll": -0.0365600623190403,
                        "pitch": 0.1318841129541397,
                        "yaw": -179.0848388671875
                    }
                },
                "velocity": {
                    "x": -8.025420188903809,
                    "y": -0.1479053795337677,
                    "z": 0.01974213495850563
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045699119567871,
                "transform": {
                    "location": {
                        "x": -1630.820556640625,
                        "y": 1606.4715576171875,
                        "z": 324.9623107910156
                    },
                    "rotation": {
                        "roll": 0.0005296191666275263,
                        "pitch": 1.1536120176315308,
                        "yaw": -179.51034545898438
                    }
                },
                "velocity": {
                    "x": -8.043798446655273,
                    "y": -0.0688285306096077,
                    "z": 0.1607590764760971
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.528939723968506,
                "transform": {
                    "location": {
                        "x": -1685.8221435546875,
                        "y": 1609.6978759765625,
                        "z": 326.62091064453125
                    },
                    "rotation": {
                        "roll": -0.00518798828125,
                        "pitch": -2.1354994773864746,
                        "yaw": 0.6258306503295898
                    }
                },
                "velocity": {
                    "x": 3.5264992713928223,
                    "y": 0.03682196885347366,
                    "z": -0.12594665586948395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.550755977630615,
                "transform": {
                    "location": {
                        "x": -1667.470947265625,
                        "y": 1609.8555908203125,
                        "z": 325.95904541015625
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -2.0742805004119873,
                        "yaw": 0.5693515539169312
                    }
                },
                "velocity": {
                    "x": 6.546614646911621,
                    "y": 0.06442687660455704,
                    "z": -0.22380892932415009
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.013319969177246,
                "transform": {
                    "location": {
                        "x": -1636.185546875,
                        "y": 1610.118896484375,
                        "z": 325.0797119140625
                    },
                    "rotation": {
                        "roll": 0.0018802337581291795,
                        "pitch": -1.4039043188095093,
                        "yaw": 0.5910407900810242
                    }
                },
                "velocity": {
                    "x": 8.01095962524414,
                    "y": 0.08003649860620499,
                    "z": -0.17722980678081512
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.2924017906188965,
                "transform": {
                    "location": {
                        "x": -1615.059814453125,
                        "y": 1610.3026123046875,
                        "z": 324.65472412109375
                    },
                    "rotation": {
                        "roll": 0.0002649857779033482,
                        "pitch": -1.094360113143921,
                        "yaw": 0.4925180971622467
                    }
                },
                "velocity": {
                    "x": 6.291066646575928,
                    "y": 0.05355456843972206,
                    "z": -0.11802968382835388
                },
                "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": 0.07632178068161011,
        "expert_target_speed": 5.930970444319897,
        "target_point": [
            36.618680789917846,
            0.09854156977866918
        ],
        "target_point_next": [
            87.61863088958218,
            0.13130598449993913
        ]
    },
    "110": {
        "acceleration": [
            0.3643608093261719,
            -0.0035712867975234985,
            -0.061387717723846436
        ],
        "angular_velocity": [
            0.07648829370737076,
            -0.13886424899101257,
            2.448882818222046
        ],
        "forward_vector": [
            0.9995769262313843,
            0.007967453449964523,
            -0.02797226794064045
        ],
        "right_vector": [
            -0.007971503771841526,
            0.9999682307243347,
            -3.3286229154327884e-05
        ],
        "location": [
            -1654.068115234375,
            1609.800537109375,
            325.5298156738281
        ],
        "rotation": [
            0.0019079071935266256,
            -1.6029019355773926,
            0.45668503642082214
        ],
        "velocity": [
            5.03045129776001,
            0.03769335523247719,
            -0.14625316858291626
        ],
        "speed": 5.030592514621319,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.880720138549805,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1634.1964111328125,
                1610.138427734375,
                325.03558349609375
            ],
            "velocity": [
                7.981963157653809,
                0.07509113103151321,
                -0.17060041427612305
            ],
            "speed_kmh": 28.742901179625516,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.190220832824707,
                "transform": {
                    "location": {
                        "x": -1591.091796875,
                        "y": 1606.868408203125,
                        "z": 324.3792724609375
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": 0.2343369424343109,
                        "yaw": -178.91439819335938
                    }
                },
                "velocity": {
                    "x": -8.188904762268066,
                    "y": -0.14456318318843842,
                    "z": 0.025656413286924362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.016717910766602,
                "transform": {
                    "location": {
                        "x": -1632.8275146484375,
                        "y": 1606.454833984375,
                        "z": 325.003662109375
                    },
                    "rotation": {
                        "roll": -0.0002136236143996939,
                        "pitch": 1.2048043012619019,
                        "yaw": -179.51657104492188
                    }
                },
                "velocity": {
                    "x": -8.014641761779785,
                    "y": -0.0684618353843689,
                    "z": 0.1691076010465622
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.701298713684082,
                "transform": {
                    "location": {
                        "x": -1684.7864990234375,
                        "y": 1609.708740234375,
                        "z": 326.5839538574219
                    },
                    "rotation": {
                        "roll": -0.006072998978197575,
                        "pitch": -2.1554300785064697,
                        "yaw": 0.6070200800895691
                    }
                },
                "velocity": {
                    "x": 4.698067665100098,
                    "y": 0.0437871590256691,
                    "z": -0.16868457198143005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8055272698402405,
                "transform": {
                    "location": {
                        "x": -1666.47802734375,
                        "y": 1609.865234375,
                        "z": 325.92413330078125
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -2.6671135425567627,
                        "yaw": 0.5508772730827332
                    }
                },
                "velocity": {
                    "x": 0.8050210475921631,
                    "y": 0.007960591465234756,
                    "z": -0.027421221137046814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.984139442443848,
                "transform": {
                    "location": {
                        "x": -1634.1964111328125,
                        "y": 1610.138427734375,
                        "z": 325.03558349609375
                    },
                    "rotation": {
                        "roll": 0.0015438785776495934,
                        "pitch": -1.3127076625823975,
                        "yaw": 0.5519208312034607
                    }
                },
                "velocity": {
                    "x": 7.981963157653809,
                    "y": 0.07509113103151321,
                    "z": -0.17060041427612305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.672379970550537,
                "transform": {
                    "location": {
                        "x": -1613.4521484375,
                        "y": 1610.31640625,
                        "z": 324.6244201660156
                    },
                    "rotation": {
                        "roll": -9.155306179309264e-05,
                        "pitch": -1.0664998292922974,
                        "yaw": 0.48376840353012085
                    }
                },
                "velocity": {
                    "x": 6.671053409576416,
                    "y": 0.05529109016060829,
                    "z": -0.12103221565485
                },
                "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": 0.075586698949337,
        "expert_target_speed": 6.084498983602494,
        "target_point": [
            35.37598938535053,
            0.09035190902164758
        ],
        "target_point_next": [
            86.37594568846566,
            0.11134608607820073
        ]
    },
    "115": {
        "acceleration": [
            0.1479053497314453,
            -0.017116665840148926,
            -0.004052519798278809
        ],
        "angular_velocity": [
            -0.03258265554904938,
            0.03314569219946861,
            -0.0880773738026619
        ],
        "forward_vector": [
            0.9995679259300232,
            0.007100076414644718,
            -0.028522199019789696
        ],
        "right_vector": [
            -0.007106488104909658,
            0.99997478723526,
            -0.0001234338415088132
        ],
        "location": [
            -1652.816162109375,
            1609.8099365234375,
            325.4938659667969
        ],
        "rotation": [
            0.007075117435306311,
            -1.6344232559204102,
            0.4069734215736389
        ],
        "velocity": [
            5.032165050506592,
            0.03406286612153053,
            -0.14219559729099274
        ],
        "speed": 5.032280335433274,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.649633407592773,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1632.175537109375,
                1610.1571044921875,
                324.9924011230469
            ],
            "velocity": [
                8.14427375793457,
                0.07341261208057404,
                -0.1659696400165558
            ],
            "speed_kmh": 29.326663800857578,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.981639385223389,
                "transform": {
                    "location": {
                        "x": -1593.1121826171875,
                        "y": 1606.8348388671875,
                        "z": 324.3874816894531
                    },
                    "rotation": {
                        "roll": 0.00836342666298151,
                        "pitch": 0.24551796913146973,
                        "yaw": -179.0544891357422
                    }
                },
                "velocity": {
                    "x": -7.980547904968262,
                    "y": -0.127086341381073,
                    "z": 0.0356733612716198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033865928649902,
                "transform": {
                    "location": {
                        "x": -1634.833984375,
                        "y": 1606.438232421875,
                        "z": 325.04608154296875
                    },
                    "rotation": {
                        "roll": -0.00027465776656754315,
                        "pitch": 1.2849702835083008,
                        "yaw": -179.515380859375
                    }
                },
                "velocity": {
                    "x": -8.031662940979004,
                    "y": -0.06791194528341293,
                    "z": 0.1754516363143921
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.345416069030762,
                "transform": {
                    "location": {
                        "x": -1683.5064697265625,
                        "y": 1609.7210693359375,
                        "z": 326.5380554199219
                    },
                    "rotation": {
                        "roll": -0.003723145229741931,
                        "pitch": -2.1144351959228516,
                        "yaw": 0.5726622939109802
                    }
                },
                "velocity": {
                    "x": 5.341736316680908,
                    "y": 0.050942011177539825,
                    "z": -0.19164925813674927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9628733992576599,
                "transform": {
                    "location": {
                        "x": -1666.37646484375,
                        "y": 1609.8663330078125,
                        "z": 325.9215393066406
                    },
                    "rotation": {
                        "roll": -0.0035705554764717817,
                        "pitch": -2.140164613723755,
                        "yaw": 0.6130322813987732
                    }
                },
                "velocity": {
                    "x": 0.9622731804847717,
                    "y": 0.0113593190908432,
                    "z": -0.032037995755672455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.146294593811035,
                "transform": {
                    "location": {
                        "x": -1632.175537109375,
                        "y": 1610.1571044921875,
                        "z": 324.9924011230469
                    },
                    "rotation": {
                        "roll": 0.0015846628230065107,
                        "pitch": -1.1356555223464966,
                        "yaw": 0.5231528282165527
                    }
                },
                "velocity": {
                    "x": 8.14427375793457,
                    "y": 0.07341261208057404,
                    "z": -0.1659696400165558
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7111358642578125,
                "transform": {
                    "location": {
                        "x": -1611.75439453125,
                        "y": 1610.33056640625,
                        "z": 324.59417724609375
                    },
                    "rotation": {
                        "roll": -0.0001525879924884066,
                        "pitch": -0.996428906917572,
                        "yaw": 0.4772803485393524
                    }
                },
                "velocity": {
                    "x": 6.709904193878174,
                    "y": 0.05610202997922897,
                    "z": -0.11568810790777206
                },
                "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": 0.08106788992881775,
        "expert_target_speed": 6.1014582933562584,
        "target_point": [
            34.123909374670575,
            0.12053764770700309
        ],
        "target_point_next": [
            85.12382826830887,
            0.18577963907605
        ]
    },
    "120": {
        "acceleration": [
            -2.035846710205078,
            -0.017421171069145203,
            0.05016684532165527
        ],
        "angular_velocity": [
            0.0082281194627285,
            0.43003812432289124,
            0.0040933676064014435
        ],
        "forward_vector": [
            0.9995608925819397,
            0.007127225864678621,
            -0.028762901201844215
        ],
        "right_vector": [
            -0.007132573053240776,
            0.9999746084213257,
            -8.331597200594842e-05
        ],
        "location": [
            -1651.5565185546875,
            1609.8187255859375,
            325.45806884765625
        ],
        "rotation": [
            0.004775629378855228,
            -1.648220181465149,
            0.40853244066238403
        ],
        "velocity": [
            5.007312774658203,
            0.033404506742954254,
            -0.1427348554134369
        ],
        "speed": 5.007424196563137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.428035736083984,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1630.137451171875,
                1610.1754150390625,
                324.9510803222656
            ],
            "velocity": [
                8.1289701461792,
                0.07045117765665054,
                -0.16107116639614105
            ],
            "speed_kmh": 29.271135535337354,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.139904022216797,
                "transform": {
                    "location": {
                        "x": -1595.128662109375,
                        "y": 1606.8035888671875,
                        "z": 324.3983459472656
                    },
                    "rotation": {
                        "roll": 0.007254539057612419,
                        "pitch": 0.33531445264816284,
                        "yaw": -179.115478515625
                    }
                },
                "velocity": {
                    "x": -8.138784408569336,
                    "y": -0.12410946935415268,
                    "z": 0.053118858486413956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031527519226074,
                "transform": {
                    "location": {
                        "x": -1636.8421630859375,
                        "y": 1606.421630859375,
                        "z": 325.0905456542969
                    },
                    "rotation": {
                        "roll": 0.00016788493667263538,
                        "pitch": 1.2773545980453491,
                        "yaw": -179.5184326171875
                    }
                },
                "velocity": {
                    "x": -8.029261589050293,
                    "y": -0.06748361140489578,
                    "z": 0.1784321814775467
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.788658142089844,
                "transform": {
                    "location": {
                        "x": -1682.094970703125,
                        "y": 1609.734375,
                        "z": 326.4872131347656
                    },
                    "rotation": {
                        "roll": -0.004119872581213713,
                        "pitch": -2.1001875400543213,
                        "yaw": 0.5971660017967224
                    }
                },
                "velocity": {
                    "x": 5.784668922424316,
                    "y": 0.05479786917567253,
                    "z": -0.20776908099651337
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9366199970245361,
                "transform": {
                    "location": {
                        "x": -1666.0078125,
                        "y": 1609.86962890625,
                        "z": 325.90936279296875
                    },
                    "rotation": {
                        "roll": 0.0005147159099578857,
                        "pitch": -1.843686580657959,
                        "yaw": 0.5218259692192078
                    }
                },
                "velocity": {
                    "x": 1.9354026317596436,
                    "y": 0.017261821776628494,
                    "z": -0.06645182520151138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.130871772766113,
                "transform": {
                    "location": {
                        "x": -1630.137451171875,
                        "y": 1610.1754150390625,
                        "z": 324.9510803222656
                    },
                    "rotation": {
                        "roll": 0.0005797575577162206,
                        "pitch": -1.1134642362594604,
                        "yaw": 0.5049707293510437
                    }
                },
                "velocity": {
                    "x": 8.1289701461792,
                    "y": 0.07045117765665054,
                    "z": -0.16107116639614105
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.133816242218018,
                "transform": {
                    "location": {
                        "x": -1610.153076171875,
                        "y": 1610.3438720703125,
                        "z": 324.56634521484375
                    },
                    "rotation": {
                        "roll": -0.00033569266088306904,
                        "pitch": -0.9638352394104004,
                        "yaw": 0.4781322181224823
                    }
                },
                "velocity": {
                    "x": 6.132744789123535,
                    "y": 0.05130035802721977,
                    "z": -0.10251455754041672
                },
                "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": 0.08092194050550461,
        "expert_target_speed": 6.088852222383809,
        "target_point": [
            32.864238436160974,
            0.11980275178815653
        ],
        "target_point_next": [
            83.86415908422043,
            0.18365857971882726
        ]
    },
    "125": {
        "acceleration": [
            0.09450912475585938,
            -0.04748538136482239,
            0.0030502676963806152
        ],
        "angular_velocity": [
            -0.027581728994846344,
            -0.1994463950395584,
            2.910148859024048
        ],
        "forward_vector": [
            0.9995744824409485,
            0.0069002495147287846,
            -0.02834119088947773
        ],
        "right_vector": [
            -0.006905307527631521,
            0.9999761581420898,
            -8.061659173108637e-05
        ],
        "location": [
            -1650.2904052734375,
            1609.8275146484375,
            325.4226379394531
        ],
        "rotation": [
            0.00462084636092186,
            -1.624048113822937,
            0.39551717042922974
        ],
        "velocity": [
            5.0658440589904785,
            0.031055592000484467,
            -0.1379404217004776
        ],
        "speed": 5.065939249517667,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.179059982299805,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1628.1202392578125,
                1610.193115234375,
                324.9120178222656
            ],
            "velocity": [
                8.034151077270508,
                0.06759153306484222,
                -0.1544189304113388
            ],
            "speed_kmh": 28.929309112135485,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.88319206237793,
                "transform": {
                    "location": {
                        "x": -1597.136474609375,
                        "y": 1606.7762451171875,
                        "z": 324.4114685058594
                    },
                    "rotation": {
                        "roll": 0.015120827592909336,
                        "pitch": 0.48704028129577637,
                        "yaw": -179.23756408691406
                    }
                },
                "velocity": {
                    "x": -7.8823723793029785,
                    "y": -0.09825221449136734,
                    "z": 0.05714171379804611
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023681640625,
                "transform": {
                    "location": {
                        "x": -1638.848388671875,
                        "y": 1606.4049072265625,
                        "z": 325.13677978515625
                    },
                    "rotation": {
                        "roll": 0.0001144804700743407,
                        "pitch": 1.351776361465454,
                        "yaw": -179.5186309814453
                    }
                },
                "velocity": {
                    "x": -8.021233558654785,
                    "y": -0.06739103049039841,
                    "z": 0.18640261888504028
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.5877790451049805,
                "transform": {
                    "location": {
                        "x": -1680.4007568359375,
                        "y": 1609.7506103515625,
                        "z": 326.4271545410156
                    },
                    "rotation": {
                        "roll": -0.003204346401616931,
                        "pitch": -2.2038559913635254,
                        "yaw": 0.562567949295044
                    }
                },
                "velocity": {
                    "x": 7.582528591156006,
                    "y": 0.07143178582191467,
                    "z": -0.27304285764694214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.18682861328125,
                "transform": {
                    "location": {
                        "x": -1665.4439697265625,
                        "y": 1609.8746337890625,
                        "z": 325.8900451660156
                    },
                    "rotation": {
                        "roll": 0.00471517164260149,
                        "pitch": -1.8542460203170776,
                        "yaw": 0.41066062450408936
                    }
                },
                "velocity": {
                    "x": 2.1854374408721924,
                    "y": 0.02050563134253025,
                    "z": -0.07524824887514114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.035919189453125,
                "transform": {
                    "location": {
                        "x": -1628.1202392578125,
                        "y": 1610.193115234375,
                        "z": 324.9120178222656
                    },
                    "rotation": {
                        "roll": 0.0011841970263049006,
                        "pitch": -1.1600323915481567,
                        "yaw": 0.4890861213207245
                    }
                },
                "velocity": {
                    "x": 8.034151077270508,
                    "y": 0.06759153306484222,
                    "z": -0.1544189304113388
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.969855308532715,
                "transform": {
                    "location": {
                        "x": -1608.65966796875,
                        "y": 1610.3565673828125,
                        "z": 324.5415954589844
                    },
                    "rotation": {
                        "roll": 0.0001153936973423697,
                        "pitch": -0.9624009132385254,
                        "yaw": 0.4795612692832947
                    }
                },
                "velocity": {
                    "x": 5.9688239097595215,
                    "y": 0.04992670565843582,
                    "z": -0.09910673648118973
                },
                "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": 0.08113476634025574,
        "expert_target_speed": 6.155083382724943,
        "target_point": [
            31.59806659653146,
            0.12721718910260274
        ],
        "target_point_next": [
            82.59797142826262,
            0.20265477579313407
        ]
    },
    "130": {
        "acceleration": [
            0.6866931915283203,
            0.03062620759010315,
            0.07724136114120483
        ],
        "angular_velocity": [
            -0.015341204591095448,
            -0.11759701371192932,
            -0.969993531703949
        ],
        "forward_vector": [
            0.9996085166931152,
            0.0063472227193415165,
            -0.027248704805970192
        ],
        "right_vector": [
            -0.006353246048092842,
            0.9999798536300659,
            -0.00013447500532492995
        ],
        "location": [
            -1649.0242919921875,
            1609.8345947265625,
            325.3879089355469
        ],
        "rotation": [
            0.0077077122405171394,
            -1.5614290237426758,
            0.3638066053390503
        ],
        "velocity": [
            5.068912029266357,
            0.02836541086435318,
            -0.13765396177768707
        ],
        "speed": 5.068991394446698,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.930240631103516,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1626.1029052734375,
                1610.2099609375,
                324.87310791015625
            ],
            "velocity": [
                8.103591918945312,
                0.06859228760004044,
                -0.15379643440246582
            ],
            "speed_kmh": 29.17922926727123,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.245708465576172,
                "transform": {
                    "location": {
                        "x": -1598.810302734375,
                        "y": 1606.7564697265625,
                        "z": 324.4257507324219
                    },
                    "rotation": {
                        "roll": 0.007559024728834629,
                        "pitch": 0.26573532819747925,
                        "yaw": -179.332763671875
                    }
                },
                "velocity": {
                    "x": -6.245064735412598,
                    "y": -0.07045537978410721,
                    "z": 0.05546369403600693
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033047676086426,
                "transform": {
                    "location": {
                        "x": -1640.855712890625,
                        "y": 1606.3878173828125,
                        "z": 325.18402099609375
                    },
                    "rotation": {
                        "roll": -0.00027465802850201726,
                        "pitch": 1.4096143245697021,
                        "yaw": -179.51016235351562
                    }
                },
                "velocity": {
                    "x": -8.030370712280273,
                    "y": -0.06859541684389114,
                    "z": 0.19568736851215363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.48048734664917,
                "transform": {
                    "location": {
                        "x": -1678.4642333984375,
                        "y": 1609.7684326171875,
                        "z": 326.356201171875
                    },
                    "rotation": {
                        "roll": -0.0025939946062862873,
                        "pitch": -2.0740346908569336,
                        "yaw": 0.53431636095047
                    }
                },
                "velocity": {
                    "x": 7.4753313064575195,
                    "y": 0.06606030464172363,
                    "z": -0.269721657037735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.611757516860962,
                "transform": {
                    "location": {
                        "x": -1664.8736572265625,
                        "y": 1609.87939453125,
                        "z": 325.87115478515625
                    },
                    "rotation": {
                        "roll": 0.006897177081555128,
                        "pitch": -1.8407564163208008,
                        "yaw": 0.3303913474082947
                    }
                },
                "velocity": {
                    "x": 2.610272169113159,
                    "y": 0.019946645945310593,
                    "z": -0.08578581362962723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.105341911315918,
                "transform": {
                    "location": {
                        "x": -1626.1029052734375,
                        "y": 1610.2099609375,
                        "z": 324.87310791015625
                    },
                    "rotation": {
                        "roll": -0.00024414085783064365,
                        "pitch": -1.0949065685272217,
                        "yaw": 0.48306185007095337
                    }
                },
                "velocity": {
                    "x": 8.103591918945312,
                    "y": 0.06859228760004044,
                    "z": -0.15379643440246582
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.160436153411865,
                "transform": {
                    "location": {
                        "x": -1607.1318359375,
                        "y": 1610.369384765625,
                        "z": 324.51751708984375
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": -0.8868044018745422,
                        "yaw": 0.4794732332229614
                    }
                },
                "velocity": {
                    "x": 6.159646511077881,
                    "y": 0.05154102295637131,
                    "z": -0.08409419655799866
                },
                "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": 0.09059496968984604,
        "expert_target_speed": 6.167385687756532,
        "target_point": [
            30.331858629744108,
            0.14566567524309712
        ],
        "target_point_next": [
            81.33171389571876,
            0.24933112156325155
        ]
    },
    "135": {
        "acceleration": [
            -1.7593765258789062,
            0.02718467265367508,
            0.07150143384933472
        ],
        "angular_velocity": [
            0.03747427836060524,
            0.5260671973228455,
            0.10654299706220627
        ],
        "forward_vector": [
            0.9996430277824402,
            0.003330046543851495,
            -0.02650868147611618
        ],
        "right_vector": [
            -0.00333844474516809,
            0.9999943971633911,
            -0.0002725608355831355
        ],
        "location": [
            -1647.742431640625,
            1609.841552734375,
            325.3531188964844
        ],
        "rotation": [
            0.015622075647115707,
            -1.519013524055481,
            0.19086503982543945
        ],
        "velocity": [
            5.07407808303833,
            0.022762836888432503,
            -0.13399183750152588
        ],
        "speed": 5.074129140996821,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.668731689453125,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1624.08251953125,
                1610.227294921875,
                324.8348083496094
            ],
            "velocity": [
                7.957925796508789,
                0.0685686245560646,
                -0.14889144897460938
            ],
            "speed_kmh": 28.654610009588044,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.251064300537109,
                "transform": {
                    "location": {
                        "x": -1600.372314453125,
                        "y": 1606.7388916015625,
                        "z": 324.44085693359375
                    },
                    "rotation": {
                        "roll": 0.005116078071296215,
                        "pitch": 0.49977174401283264,
                        "yaw": -179.35557556152344
                    }
                },
                "velocity": {
                    "x": -6.250326633453369,
                    "y": -0.06908109784126282,
                    "z": 0.06672216206789017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024067878723145,
                "transform": {
                    "location": {
                        "x": -1642.8624267578125,
                        "y": 1606.3712158203125,
                        "z": 325.2330322265625
                    },
                    "rotation": {
                        "roll": 0.0004304756294004619,
                        "pitch": 1.4079545736312866,
                        "yaw": -179.5175018310547
                    }
                },
                "velocity": {
                    "x": -8.021281242370605,
                    "y": -0.06759575754404068,
                    "z": 0.20035439729690552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.207158088684082,
                "transform": {
                    "location": {
                        "x": -1676.7640380859375,
                        "y": 1609.7838134765625,
                        "z": 326.29388427734375
                    },
                    "rotation": {
                        "roll": -0.0013427737867459655,
                        "pitch": -1.962579607963562,
                        "yaw": 0.5215423107147217
                    }
                },
                "velocity": {
                    "x": 6.202858924865723,
                    "y": 0.05640445649623871,
                    "z": -0.2239919751882553
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.094013214111328,
                "transform": {
                    "location": {
                        "x": -1664.0345458984375,
                        "y": 1609.8861083984375,
                        "z": 325.84368896484375
                    },
                    "rotation": {
                        "roll": 0.0023971868213266134,
                        "pitch": -1.7094391584396362,
                        "yaw": 0.3917587101459503
                    }
                },
                "velocity": {
                    "x": 4.09165096282959,
                    "y": 0.033450737595558167,
                    "z": -0.13496391475200653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.959613800048828,
                "transform": {
                    "location": {
                        "x": -1624.08251953125,
                        "y": 1610.227294921875,
                        "z": 324.8348083496094
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": -1.0756864547729492,
                        "yaw": 0.48631876707077026
                    }
                },
                "velocity": {
                    "x": 7.957925796508789,
                    "y": 0.0685686245560646,
                    "z": -0.14889144897460938
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.7137675285339355,
                "transform": {
                    "location": {
                        "x": -1605.6422119140625,
                        "y": 1610.3817138671875,
                        "z": 324.4959411621094
                    },
                    "rotation": {
                        "roll": 0.00018172753334511071,
                        "pitch": -0.7680957317352295,
                        "yaw": 0.4799111485481262
                    }
                },
                "velocity": {
                    "x": 5.713013648986816,
                    "y": 0.04781855642795563,
                    "z": -0.07958341389894485
                },
                "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": 0.10135742276906967,
        "expert_target_speed": 6.178843002045062,
        "target_point": [
            29.049404367573416,
            0.23453011632450577
        ],
        "target_point_next": [
            80.04871441259762,
            0.49213175959452216
        ]
    },
    "140": {
        "acceleration": [
            -0.6241130828857422,
            0.049443989992141724,
            0.010035932064056396
        ],
        "angular_velocity": [
            0.02413005568087101,
            0.2648727595806122,
            0.4791698753833771
        ],
        "forward_vector": [
            0.9996249079704285,
            0.005065269768238068,
            -0.02691599354147911
        ],
        "right_vector": [
            -0.005066417157649994,
            0.9999871850013733,
            2.555707578721922e-05
        ],
        "location": [
            -1646.470458984375,
            1609.848876953125,
            325.31976318359375
        ],
        "rotation": [
            -0.0014648432843387127,
            -1.5423591136932373,
            0.29032501578330994
        ],
        "velocity": [
            5.0566792488098145,
            0.035642288625240326,
            -0.13305547833442688
        ],
        "speed": 5.056804860589564,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.860727310180664,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1622.6182861328125,
                1610.2396240234375,
                324.8143005371094
            ],
            "velocity": [
                3.9141311645507812,
                0.03262250870466232,
                -0.0747985914349556
            ],
            "speed_kmh": 14.093934174863524,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.49694538116455,
                "transform": {
                    "location": {
                        "x": -1602.273193359375,
                        "y": 1606.7196044921875,
                        "z": 324.4610595703125
                    },
                    "rotation": {
                        "roll": 0.005692035425454378,
                        "pitch": 1.0279570817947388,
                        "yaw": -179.4203643798828
                    }
                },
                "velocity": {
                    "x": -8.49608039855957,
                    "y": -0.08310835808515549,
                    "z": 0.0883050337433815
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029752731323242,
                "transform": {
                    "location": {
                        "x": -1644.8690185546875,
                        "y": 1606.3541259765625,
                        "z": 325.28387451171875
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": 1.4960094690322876,
                        "yaw": -179.51559448242188
                    }
                },
                "velocity": {
                    "x": -8.026881217956543,
                    "y": -0.06771724671125412,
                    "z": 0.20376178622245789
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.524693489074707,
                "transform": {
                    "location": {
                        "x": -1675.5926513671875,
                        "y": 1609.794189453125,
                        "z": 326.2502136230469
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": -1.8348413705825806,
                        "yaw": 0.5116515159606934
                    }
                },
                "velocity": {
                    "x": 3.5222365856170654,
                    "y": 0.03171854093670845,
                    "z": -0.12769722938537598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.448495388031006,
                "transform": {
                    "location": {
                        "x": -1662.825927734375,
                        "y": 1609.896484375,
                        "z": 325.80419921875
                    },
                    "rotation": {
                        "roll": -0.001708984375,
                        "pitch": -1.6863667964935303,
                        "yaw": 0.4814973473548889
                    }
                },
                "velocity": {
                    "x": 5.445362567901611,
                    "y": 0.04748743027448654,
                    "z": -0.17853976786136627
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9149818420410156,
                "transform": {
                    "location": {
                        "x": -1622.6182861328125,
                        "y": 1610.2396240234375,
                        "z": 324.8143005371094
                    },
                    "rotation": {
                        "roll": 0.0002510014455765486,
                        "pitch": -1.927916407585144,
                        "yaw": 0.4883061945438385
                    }
                },
                "velocity": {
                    "x": 3.9141311645507812,
                    "y": 0.03262250870466232,
                    "z": -0.0747985914349556
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.653656482696533,
                "transform": {
                    "location": {
                        "x": -1604.2344970703125,
                        "y": 1610.3934326171875,
                        "z": 324.4767761230469
                    },
                    "rotation": {
                        "roll": -0.00018310533778276294,
                        "pitch": -0.7097727060317993,
                        "yaw": 0.48051905632019043
                    }
                },
                "velocity": {
                    "x": 5.6530280113220215,
                    "y": 0.04737359285354614,
                    "z": -0.06971584260463715
                },
                "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": 0.09462607651948929,
        "expert_target_speed": 6.132794626440807,
        "target_point": [
            27.77777428548784,
            0.183223310152629
        ],
        "target_point_next": [
            78.777454665985,
            0.352293598067432
        ]
    },
    "145": {
        "acceleration": [
            -1.4949893951416016,
            -0.0030216574668884277,
            0.07916778326034546
        ],
        "angular_velocity": [
            -0.014066580682992935,
            0.2786586880683899,
            0.18750084936618805
        ],
        "forward_vector": [
            0.9996185302734375,
            0.006335358135402203,
            -0.02688131481409073
        ],
        "right_vector": [
            -0.006337147206068039,
            0.9999799132347107,
            1.8635386368259788e-05
        ],
        "location": [
            -1645.19580078125,
            1609.8572998046875,
            325.2864074707031
        ],
        "rotation": [
            -0.0010681150015443563,
            -1.5403715372085571,
            0.36312294006347656
        ],
        "velocity": [
            5.027355670928955,
            0.03605664148926735,
            -0.1285863220691681
        ],
        "speed": 5.027484969984197,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.667285919189453,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1621.5369873046875,
                1610.2486572265625,
                324.7886047363281
            ],
            "velocity": [
                4.599010467529297,
                0.037633493542671204,
                -0.08552858233451843
            ],
            "speed_kmh": 16.559854707540357,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025775909423828,
                "transform": {
                    "location": {
                        "x": -1604.3555908203125,
                        "y": 1606.699462890625,
                        "z": 324.4864807128906
                    },
                    "rotation": {
                        "roll": 0.002972948830574751,
                        "pitch": 0.7516486048698425,
                        "yaw": -179.45458984375
                    }
                },
                "velocity": {
                    "x": -8.02474308013916,
                    "y": -0.07678502053022385,
                    "z": 0.10334058851003647
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02631950378418,
                "transform": {
                    "location": {
                        "x": -1646.875732421875,
                        "y": 1606.337646484375,
                        "z": 325.3359375
                    },
                    "rotation": {
                        "roll": -0.00030517540290020406,
                        "pitch": 1.53391695022583,
                        "yaw": -179.51614379882812
                    }
                },
                "velocity": {
                    "x": -8.02319049835205,
                    "y": -0.06771868467330933,
                    "z": 0.21362054347991943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.246408700942993,
                "transform": {
                    "location": {
                        "x": -1674.8900146484375,
                        "y": 1609.80029296875,
                        "z": 326.22552490234375
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -1.919242024421692,
                        "yaw": 0.5154396891593933
                    }
                },
                "velocity": {
                    "x": 2.244861602783203,
                    "y": 0.020049061626195908,
                    "z": -0.0809141993522644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.7584428787231445,
                "transform": {
                    "location": {
                        "x": -1661.4014892578125,
                        "y": 1609.9078369140625,
                        "z": 325.758056640625
                    },
                    "rotation": {
                        "roll": 0.010050763376057148,
                        "pitch": -1.7435901165008545,
                        "yaw": 0.2730473577976227
                    }
                },
                "velocity": {
                    "x": 5.755321502685547,
                    "y": 0.043494053184986115,
                    "z": -0.18451480567455292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.599959850311279,
                "transform": {
                    "location": {
                        "x": -1621.5369873046875,
                        "y": 1610.2486572265625,
                        "z": 324.7886047363281
                    },
                    "rotation": {
                        "roll": 0.0006677631754428148,
                        "pitch": -1.2726349830627441,
                        "yaw": 0.4824272394180298
                    }
                },
                "velocity": {
                    "x": 4.599010467529297,
                    "y": 0.037633493542671204,
                    "z": -0.08552858233451843
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.833261489868164,
                "transform": {
                    "location": {
                        "x": -1602.78857421875,
                        "y": 1610.4029541015625,
                        "z": 324.46063232421875
                    },
                    "rotation": {
                        "roll": 0.19684720039367676,
                        "pitch": -0.6366214156150818,
                        "yaw": 0.38487857580184937
                    }
                },
                "velocity": {
                    "x": 5.832901954650879,
                    "y": 0.01854647323489189,
                    "z": -0.062049802392721176
                },
                "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": 0.09944450110197067,
        "expert_target_speed": 6.107276741925124,
        "target_point": [
            26.503298671326046,
            0.1475862512041743
        ],
        "target_point_next": [
            77.50315269788851,
            0.25185966316829345
        ]
    },
    "150": {
        "acceleration": [
            -0.46034812927246094,
            0.01776956021785736,
            0.015272796154022217
        ],
        "angular_velocity": [
            0.016590995714068413,
            0.01983017288148403,
            0.19142846763134003
        ],
        "forward_vector": [
            0.999642550945282,
            0.007192930206656456,
            -0.025749338790774345
        ],
        "right_vector": [
            -0.007193903438746929,
            0.9999741315841675,
            5.484291978063993e-05
        ],
        "location": [
            -1643.914794921875,
            1609.8668212890625,
            325.2540283203125
        ],
        "rotation": [
            -0.0031433100812137127,
            -1.4754915237426758,
            0.41226479411125183
        ],
        "velocity": [
            5.0741705894470215,
            0.04074633866548538,
            -0.12663446366786957
        ],
        "speed": 5.074334186366107,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.608234405517578,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1620.31494140625,
                1610.2593994140625,
                324.76251220703125
            ],
            "velocity": [
                5.089902400970459,
                0.04297659173607826,
                -0.09323293715715408
            ],
            "speed_kmh": 18.32737542092683,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1565.433837890625,
                        "y": 1607.119140625,
                        "z": 324.4866638183594
                    },
                    "rotation": {
                        "roll": 1.3027552994704372e-11,
                        "pitch": -0.02817452885210514,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8547844886779785,
                "transform": {
                    "location": {
                        "x": -1606.3140869140625,
                        "y": 1606.680908203125,
                        "z": 324.51373291015625
                    },
                    "rotation": {
                        "roll": 0.0035400197375565767,
                        "pitch": 0.7991594076156616,
                        "yaw": -179.44749450683594
                    }
                },
                "velocity": {
                    "x": -7.853585720062256,
                    "y": -0.07245896011590958,
                    "z": 0.11651611328125
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026180267333984,
                "transform": {
                    "location": {
                        "x": -1648.8818359375,
                        "y": 1606.32080078125,
                        "z": 325.3896789550781
                    },
                    "rotation": {
                        "roll": 0.0001840554759837687,
                        "pitch": 1.5490800142288208,
                        "yaw": -179.51263427734375
                    }
                },
                "velocity": {
                    "x": -8.022868156433105,
                    "y": -0.06826353818178177,
                    "z": 0.22019001841545105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3800240457057953,
                "transform": {
                    "location": {
                        "x": -1674.6302490234375,
                        "y": 1609.802490234375,
                        "z": 326.2156677246094
                    },
                    "rotation": {
                        "roll": -0.0034179685171693563,
                        "pitch": -1.8560764789581299,
                        "yaw": 0.565359354019165
                    }
                },
                "velocity": {
                    "x": 0.37975814938545227,
                    "y": 0.0031473198905587196,
                    "z": -0.01386068295687437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.822497367858887,
                "transform": {
                    "location": {
                        "x": -1659.6724853515625,
                        "y": 1609.922119140625,
                        "z": 325.7029724121094
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -1.5094853639602661,
                        "yaw": 0.44661015272140503
                    }
                },
                "velocity": {
                    "x": 7.8182220458984375,
                    "y": 0.06598567217588425,
                    "z": -0.2500361204147339
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.090937614440918,
                "transform": {
                    "location": {
                        "x": -1620.31494140625,
                        "y": 1610.2593994140625,
                        "z": 324.76251220703125
                    },
                    "rotation": {
                        "roll": -0.000274658523267135,
                        "pitch": -0.8475307822227478,
                        "yaw": 0.48267966508865356
                    }
                },
                "velocity": {
                    "x": 5.089902400970459,
                    "y": 0.04297659173607826,
                    "z": -0.09323293715715408
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.572876930236816,
                "transform": {
                    "location": {
                        "x": -1601.35888671875,
                        "y": 1610.407958984375,
                        "z": 324.443359375
                    },
                    "rotation": {
                        "roll": -0.0418395958840847,
                        "pitch": -0.6389163732528687,
                        "yaw": 0.11055274307727814
                    }
                },
                "velocity": {
                    "x": 5.572388172149658,
                    "y": 0.009341495111584663,
                    "z": -0.07319717854261398
                },
                "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": 0.09647999703884125,
        "expert_target_speed": 6.156178722739195,
        "target_point": [
            25.222374300269355,
            0.12455006175065272
        ],
        "target_point_next": [
            76.2222990037803,
            0.1850803131716643
        ]
    },
    "155": {
        "acceleration": [
            -1.402740478515625,
            -0.0012060999870300293,
            0.04156827926635742
        ],
        "angular_velocity": [
            -0.012289353646337986,
            0.2513425648212433,
            0.19219428300857544
        ],
        "forward_vector": [
            0.9996692538261414,
            0.008041380904614925,
            -0.024426652118563652
        ],
        "right_vector": [
            -0.008041569031774998,
            0.999967634677887,
            9.052042878465727e-05
        ],
        "location": [
            -1642.630615234375,
            1609.8773193359375,
            325.2215576171875
        ],
        "rotation": [
            -0.005187986418604851,
            -1.3996832370758057,
            0.46087968349456787
        ],
        "velocity": [
            5.107150554656982,
            0.045060086995363235,
            -0.12772677838802338
        ],
        "speed": 5.107349332028616,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.592775344848633,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1619.0460205078125,
                1610.27001953125,
                324.74017333984375
            ],
            "velocity": [
                5.242780685424805,
                0.04425495117902756,
                -0.09844481199979782
            ],
            "speed_kmh": 18.87800978904855,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1567.5152587890625,
                        "y": 1607.101806640625,
                        "z": 324.4189453125
                    },
                    "rotation": {
                        "roll": 5.211029871499129e-11,
                        "pitch": 0.10843607783317566,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.201932907104492,
                "transform": {
                    "location": {
                        "x": -1608.3387451171875,
                        "y": 1606.66259765625,
                        "z": 324.5438537597656
                    },
                    "rotation": {
                        "roll": 0.0033509761560708284,
                        "pitch": 1.0277726650238037,
                        "yaw": -179.497314453125
                    }
                },
                "velocity": {
                    "x": -8.200565338134766,
                    "y": -0.0722413957118988,
                    "z": 0.13118410110473633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026313781738281,
                "transform": {
                    "location": {
                        "x": -1650.88818359375,
                        "y": 1606.3037109375,
                        "z": 325.44500732421875
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": 1.6392521858215332,
                        "yaw": -179.5096435546875
                    }
                },
                "velocity": {
                    "x": -8.022968292236328,
                    "y": -0.06873864680528641,
                    "z": 0.22129012644290924
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3750368356704712,
                "transform": {
                    "location": {
                        "x": -1674.3970947265625,
                        "y": 1609.804443359375,
                        "z": 326.20928955078125
                    },
                    "rotation": {
                        "roll": -0.0034790029749274254,
                        "pitch": -2.1108083724975586,
                        "yaw": 0.5633231401443481
                    }
                },
                "velocity": {
                    "x": 1.3740776777267456,
                    "y": 0.011271459050476551,
                    "z": -0.05009879171848297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.237551212310791,
                "transform": {
                    "location": {
                        "x": -1657.7662353515625,
                        "y": 1609.9388427734375,
                        "z": 325.64385986328125
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -1.771976351737976,
                        "yaw": 0.5053598880767822
                    }
                },
                "velocity": {
                    "x": 7.233860969543457,
                    "y": 0.06479202210903168,
                    "z": -0.2218255251646042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.243891716003418,
                "transform": {
                    "location": {
                        "x": -1619.0460205078125,
                        "y": 1610.27001953125,
                        "z": 324.74017333984375
                    },
                    "rotation": {
                        "roll": -0.00024414085783064365,
                        "pitch": -1.0093721151351929,
                        "yaw": 0.48444095253944397
                    }
                },
                "velocity": {
                    "x": 5.242780685424805,
                    "y": 0.04425495117902756,
                    "z": -0.09844481199979782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.483929634094238,
                "transform": {
                    "location": {
                        "x": -1599.9940185546875,
                        "y": 1610.4127197265625,
                        "z": 324.4300842285156
                    },
                    "rotation": {
                        "roll": 0.07578398287296295,
                        "pitch": -0.5834962129592896,
                        "yaw": 0.26090124249458313
                    }
                },
                "velocity": {
                    "x": 5.483669757843018,
                    "y": 0.029338793829083443,
                    "z": -0.044584330171346664
                },
                "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": 0.094024658203125,
        "expert_target_speed": 6.189469545681119,
        "target_point": [
            23.93824830646175,
            0.10298291993593145
        ],
        "target_point_next": [
            74.93820600962077,
            0.12024418044495899
        ]
    },
    "160": {
        "acceleration": [
            -0.6635379791259766,
            0.06713971495628357,
            0.019037723541259766
        ],
        "angular_velocity": [
            0.0729549303650856,
            -0.06930260360240936,
            0.6555465459823608
        ],
        "forward_vector": [
            0.9996637105941772,
            0.009959181770682335,
            -0.02394113503396511
        ],
        "right_vector": [
            -0.009952855296432972,
            0.9999504089355469,
            0.00038338531157933176
        ],
        "location": [
            -1641.3487548828125,
            1609.8907470703125,
            325.1903381347656
        ],
        "rotation": [
            -0.02197265811264515,
            -1.3718570470809937,
            0.5707921385765076
        ],
        "velocity": [
            5.22548770904541,
            0.06592877209186554,
            -0.12537693977355957
        ],
        "speed": 5.225903596544256,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.756834030151367,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1617.5999755859375,
                1610.282958984375,
                324.7119445800781
            ],
            "velocity": [
                6.416830062866211,
                0.05474115163087845,
                -0.12073963135480881
            ],
            "speed_kmh": 23.105517607169688,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1569.5968017578125,
                        "y": 1607.0843505859375,
                        "z": 324.3512878417969
                    },
                    "rotation": {
                        "roll": 5.211029871499129e-11,
                        "pitch": 0.10843607783317566,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.948575019836426,
                "transform": {
                    "location": {
                        "x": -1610.356201171875,
                        "y": 1606.6446533203125,
                        "z": 324.577880859375
                    },
                    "rotation": {
                        "roll": 0.0016444420907646418,
                        "pitch": 0.9451342225074768,
                        "yaw": -179.4792022705078
                    }
                },
                "velocity": {
                    "x": -7.947117805480957,
                    "y": -0.07035960257053375,
                    "z": 0.13495755195617676
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026833534240723,
                "transform": {
                    "location": {
                        "x": -1652.8941650390625,
                        "y": 1606.287109375,
                        "z": 325.50189208984375
                    },
                    "rotation": {
                        "roll": 0.0006298181251622736,
                        "pitch": 1.6586567163467407,
                        "yaw": -179.51612854003906
                    }
                },
                "velocity": {
                    "x": -8.02322006225586,
                    "y": -0.06776269525289536,
                    "z": 0.2310921996831894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2459964752197266,
                "transform": {
                    "location": {
                        "x": -1673.9422607421875,
                        "y": 1609.808349609375,
                        "z": 326.1930847167969
                    },
                    "rotation": {
                        "roll": -0.0026550290640443563,
                        "pitch": -2.152069568634033,
                        "yaw": 0.553649365901947
                    }
                },
                "velocity": {
                    "x": 2.2444493770599365,
                    "y": 0.019320381805300713,
                    "z": -0.08108241856098175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.477011203765869,
                "transform": {
                    "location": {
                        "x": -1656.13623046875,
                        "y": 1609.953369140625,
                        "z": 325.5941162109375
                    },
                    "rotation": {
                        "roll": -0.0013427725061774254,
                        "pitch": -1.9713358879089355,
                        "yaw": 0.5086278319358826
                    }
                },
                "velocity": {
                    "x": 5.474372863769531,
                    "y": 0.04986538365483284,
                    "z": -0.1624971479177475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.41819953918457,
                "transform": {
                    "location": {
                        "x": -1617.5999755859375,
                        "y": 1610.282958984375,
                        "z": 324.7119445800781
                    },
                    "rotation": {
                        "roll": 0.0005615261616185308,
                        "pitch": -0.888334333896637,
                        "yaw": 0.4082915186882019
                    }
                },
                "velocity": {
                    "x": 6.416830062866211,
                    "y": 0.05474115163087845,
                    "z": -0.12073963135480881
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.877582550048828,
                "transform": {
                    "location": {
                        "x": -1598.554931640625,
                        "y": 1610.4158935546875,
                        "z": 324.41571044921875
                    },
                    "rotation": {
                        "roll": -0.02557372860610485,
                        "pitch": -0.46679559350013733,
                        "yaw": 0.751544713973999
                    }
                },
                "velocity": {
                    "x": 5.877137184143066,
                    "y": 0.033124469220638275,
                    "z": -0.06432809680700302
                },
                "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": 0.08640354126691818,
        "expert_target_speed": 6.316530812794538,
        "target_point": [
            22.656471311028046,
            0.05640171026571236
        ],
        "target_point_next": [
            73.65636827885422,
            -0.02417710976439491
        ]
    },
    "165": {
        "acceleration": [
            -1.0956001281738281,
            0.057601332664489746,
            0.02042323350906372
        ],
        "angular_velocity": [
            0.004739630967378616,
            0.2830147445201874,
            0.8275793790817261
        ],
        "forward_vector": [
            0.9995953440666199,
            0.013160234317183495,
            -0.025217361748218536
        ],
        "right_vector": [
            -0.013149832375347614,
            0.9999133348464966,
            0.000578254577703774
        ],
        "location": [
            -1640.0733642578125,
            1609.90869140625,
            325.1598815917969
        ],
        "rotation": [
            -0.03314208984375,
            -1.4450016021728516,
            0.7542875409126282
        ],
        "velocity": [
            5.006137371063232,
            0.08312332630157471,
            -0.12121135741472244
        ],
        "speed": 5.006827425159702,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.241907119750977,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1615.83935546875,
                1610.296875,
                324.677978515625
            ],
            "velocity": [
                7.553248882293701,
                0.06265315413475037,
                -0.14136628806591034
            ],
            "speed_kmh": 27.19739328792418,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.119650840759277,
                "transform": {
                    "location": {
                        "x": -1571.656982421875,
                        "y": 1607.0654296875,
                        "z": 324.336181640625
                    },
                    "rotation": {
                        "roll": -0.0033874509390443563,
                        "pitch": 0.12095580995082855,
                        "yaw": -179.46176147460938
                    }
                },
                "velocity": {
                    "x": -8.118891716003418,
                    "y": -0.1024424135684967,
                    "z": -0.042794838547706604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02933120727539,
                "transform": {
                    "location": {
                        "x": -1612.345703125,
                        "y": 1606.62744140625,
                        "z": 324.6130065917969
                    },
                    "rotation": {
                        "roll": 0.00043185611139051616,
                        "pitch": 1.0415560007095337,
                        "yaw": -179.51730346679688
                    }
                },
                "velocity": {
                    "x": -8.02775764465332,
                    "y": -0.06947150826454163,
                    "z": 0.14293837547302246
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023454666137695,
                "transform": {
                    "location": {
                        "x": -1654.89990234375,
                        "y": 1606.270263671875,
                        "z": 325.56036376953125
                    },
                    "rotation": {
                        "roll": 0.0005208398215472698,
                        "pitch": 1.6924183368682861,
                        "yaw": -179.51272583007812
                    }
                },
                "velocity": {
                    "x": -8.019625663757324,
                    "y": -0.06824713200330734,
                    "z": 0.23829881846904755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2411599159240723,
                "transform": {
                    "location": {
                        "x": -1673.25390625,
                        "y": 1609.814453125,
                        "z": 326.1684265136719
                    },
                    "rotation": {
                        "roll": -0.001831053989008069,
                        "pitch": -2.154719591140747,
                        "yaw": 0.534864068031311
                    }
                },
                "velocity": {
                    "x": 3.2390193939208984,
                    "y": 0.027681779116392136,
                    "z": -0.11447365581989288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0033448240719735622,
                "transform": {
                    "location": {
                        "x": -1655.575927734375,
                        "y": 1609.9586181640625,
                        "z": 325.57666015625
                    },
                    "rotation": {
                        "roll": -0.0017395023023709655,
                        "pitch": -2.4578843116760254,
                        "yaw": 0.5126665234565735
                    }
                },
                "velocity": {
                    "x": -0.003169201547279954,
                    "y": -0.0001037044421536848,
                    "z": 0.0010645443107932806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.554831504821777,
                "transform": {
                    "location": {
                        "x": -1615.83935546875,
                        "y": 1610.296875,
                        "z": 324.677978515625
                    },
                    "rotation": {
                        "roll": -0.00021362338156905025,
                        "pitch": -0.7697144746780396,
                        "yaw": 0.4913492798805237
                    }
                },
                "velocity": {
                    "x": 7.553248882293701,
                    "y": 0.06265315413475037,
                    "z": -0.14136628806591034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.449634552001953,
                "transform": {
                    "location": {
                        "x": -1597.13720703125,
                        "y": 1610.426513671875,
                        "z": 324.4035339355469
                    },
                    "rotation": {
                        "roll": -0.02215575985610485,
                        "pitch": -0.47225290536880493,
                        "yaw": 0.9212190508842468
                    }
                },
                "velocity": {
                    "x": 5.449136257171631,
                    "y": 0.059524647891521454,
                    "z": -0.04341822490096092
                },
                "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": 0.07015671581029892,
        "expert_target_speed": 6.11504450951195,
        "target_point": [
            21.381019420764805,
            -0.01731010891775947
        ],
        "target_point_next": [
            72.38039679391323,
            -0.26121834231566754
        ]
    },
    "170": {
        "acceleration": [
            -0.3861522674560547,
            -0.01167401671409607,
            0.0127488374710083
        ],
        "angular_velocity": [
            -0.0557456836104393,
            0.01109529472887516,
            0.6855759620666504
        ],
        "forward_vector": [
            0.9995743036270142,
            0.01697021909058094,
            -0.02373400703072548
        ],
        "right_vector": [
            -0.01695980317890644,
            0.9998559951782227,
            0.0006400434649549425
        ],
        "location": [
            -1638.7752685546875,
            1609.9322509765625,
            325.1293640136719
        ],
        "rotation": [
            -0.0366821251809597,
            -1.3599861860275269,
            0.9726426601409912
        ],
        "velocity": [
            5.14324951171875,
            0.10127993673086166,
            -0.11737333238124847
        ],
        "speed": 5.144246608141892,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.963010787963867,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1613.8199462890625,
                1610.3135986328125,
                324.6411437988281
            ],
            "velocity": [
                8.15493106842041,
                0.07024150341749191,
                -0.1528310328722
            ],
            "speed_kmh": 29.363995765841043,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.063636779785156,
                "transform": {
                    "location": {
                        "x": -1573.6793212890625,
                        "y": 1607.037109375,
                        "z": 324.3303527832031
                    },
                    "rotation": {
                        "roll": -0.00372314453125,
                        "pitch": 0.14025110006332397,
                        "yaw": -179.10324096679688
                    }
                },
                "velocity": {
                    "x": -8.06235408782959,
                    "y": -0.1437423825263977,
                    "z": 0.003429355565458536
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07051944732666,
                "transform": {
                    "location": {
                        "x": -1614.3662109375,
                        "y": 1606.60986328125,
                        "z": 324.6495361328125
                    },
                    "rotation": {
                        "roll": 0.0003459897416178137,
                        "pitch": 1.100917100906372,
                        "yaw": -179.4928741455078
                    }
                },
                "velocity": {
                    "x": -8.068785667419434,
                    "y": -0.07041265815496445,
                    "z": 0.15171855688095093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.027918815612793,
                "transform": {
                    "location": {
                        "x": -1656.906494140625,
                        "y": 1606.25341796875,
                        "z": 325.62005615234375
                    },
                    "rotation": {
                        "roll": 0.0007456234307028353,
                        "pitch": 1.7814772129058838,
                        "yaw": -179.51376342773438
                    }
                },
                "velocity": {
                    "x": -8.024080276489258,
                    "y": -0.06690323352813721,
                    "z": 0.23903684318065643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.395174503326416,
                "transform": {
                    "location": {
                        "x": -1672.296875,
                        "y": 1609.82275390625,
                        "z": 326.1345520019531
                    },
                    "rotation": {
                        "roll": -0.0012817390961572528,
                        "pitch": -2.1525886058807373,
                        "yaw": 0.5160921812057495
                    }
                },
                "velocity": {
                    "x": 4.3922576904296875,
                    "y": 0.036714185029268265,
                    "z": -0.15583086013793945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4697457551956177,
                "transform": {
                    "location": {
                        "x": -1655.341064453125,
                        "y": 1609.960693359375,
                        "z": 325.57073974609375
                    },
                    "rotation": {
                        "roll": -0.0016479494515806437,
                        "pitch": -1.7487468719482422,
                        "yaw": 0.5412413477897644
                    }
                },
                "velocity": {
                    "x": 1.4690455198287964,
                    "y": 0.013766083866357803,
                    "z": -0.04322350397706032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.156664848327637,
                "transform": {
                    "location": {
                        "x": -1613.8199462890625,
                        "y": 1610.3135986328125,
                        "z": 324.6411437988281
                    },
                    "rotation": {
                        "roll": -0.003601073520258069,
                        "pitch": -0.8959636688232422,
                        "yaw": 0.5553675889968872
                    }
                },
                "velocity": {
                    "x": 8.15493106842041,
                    "y": 0.07024150341749191,
                    "z": -0.1528310328722
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.175776481628418,
                "transform": {
                    "location": {
                        "x": -1595.8203125,
                        "y": 1610.4425048828125,
                        "z": 324.39501953125
                    },
                    "rotation": {
                        "roll": -0.006866454612463713,
                        "pitch": -0.402926504611969,
                        "yaw": 0.8661909699440002
                    }
                },
                "velocity": {
                    "x": 5.175311088562012,
                    "y": 0.06416584551334381,
                    "z": -0.02648409828543663
                },
                "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": 0.04816213250160217,
        "expert_target_speed": 6.259981845792617,
        "target_point": [
            20.082489596336007,
            -0.10031390463981418
        ],
        "target_point_next": [
            71.08056708676209,
            -0.5385786141699757
        ]
    },
    "175": {
        "acceleration": [
            4.887075424194336,
            -0.0768648087978363,
            -0.10714098811149597
        ],
        "angular_velocity": [
            -0.1531650871038437,
            -1.6123729944229126,
            -0.6502621173858643
        ],
        "forward_vector": [
            0.9995983839035034,
            0.016740646213293076,
            -0.022868068888783455
        ],
        "right_vector": [
            -0.016746308654546738,
            0.9998598098754883,
            -5.610455627902411e-05
        ],
        "location": [
            -1637.506103515625,
            1609.9537353515625,
            325.1001281738281
        ],
        "rotation": [
            0.0032153951469808817,
            -1.3103580474853516,
            0.9594641327857971
        ],
        "velocity": [
            5.26138162612915,
            0.07346105575561523,
            -0.12005615234375
        ],
        "speed": 5.2618944442550495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.372709274291992,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1612.1407470703125,
                1610.328369140625,
                324.6177673339844
            ],
            "velocity": [
                4.07515287399292,
                0.03501957282423973,
                -0.07156429439783096
            ],
            "speed_kmh": 14.673353917766573,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.075285911560059,
                "transform": {
                    "location": {
                        "x": -1575.6964111328125,
                        "y": 1607.0010986328125,
                        "z": 324.333984375
                    },
                    "rotation": {
                        "roll": -0.00015258771600201726,
                        "pitch": 0.12965747714042664,
                        "yaw": -178.8099365234375
                    }
                },
                "velocity": {
                    "x": -8.073856353759766,
                    "y": -0.15076284110546112,
                    "z": 0.018762435764074326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9899396896362305,
                "transform": {
                    "location": {
                        "x": -1616.36962890625,
                        "y": 1606.5927734375,
                        "z": 324.6873474121094
                    },
                    "rotation": {
                        "roll": -6.103514533606358e-05,
                        "pitch": 1.0757752656936646,
                        "yaw": -179.52456665039062
                    }
                },
                "velocity": {
                    "x": -7.98822021484375,
                    "y": -0.0682033821940422,
                    "z": 0.15108482539653778
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023947715759277,
                "transform": {
                    "location": {
                        "x": -1658.9114990234375,
                        "y": 1606.236572265625,
                        "z": 325.68182373046875
                    },
                    "rotation": {
                        "roll": -0.00027465797029435635,
                        "pitch": 1.7836081981658936,
                        "yaw": -179.51251220703125
                    }
                },
                "velocity": {
                    "x": -8.01982307434082,
                    "y": -0.06823600083589554,
                    "z": 0.24803757667541504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.195422172546387,
                "transform": {
                    "location": {
                        "x": -1671.0618896484375,
                        "y": 1609.8333740234375,
                        "z": 326.09063720703125
                    },
                    "rotation": {
                        "roll": -0.0010070805437862873,
                        "pitch": -2.108124017715454,
                        "yaw": 0.5058620572090149
                    }
                },
                "velocity": {
                    "x": 5.191993713378906,
                    "y": 0.044768672436475754,
                    "z": -0.18332751095294952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5825212001800537,
                "transform": {
                    "location": {
                        "x": -1654.8431396484375,
                        "y": 1609.96533203125,
                        "z": 325.55615234375
                    },
                    "rotation": {
                        "roll": -0.0016784662147983909,
                        "pitch": -1.552768349647522,
                        "yaw": 0.5272729396820068
                    }
                },
                "velocity": {
                    "x": 2.581266403198242,
                    "y": 0.024108821526169777,
                    "z": -0.0767994374036789
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.075931549072266,
                "transform": {
                    "location": {
                        "x": -1612.1407470703125,
                        "y": 1610.328369140625,
                        "z": 324.6177673339844
                    },
                    "rotation": {
                        "roll": -0.0020751957781612873,
                        "pitch": -1.7304966449737549,
                        "yaw": 0.5210297703742981
                    }
                },
                "velocity": {
                    "x": 4.07515287399292,
                    "y": 0.03501957282423973,
                    "z": -0.07156429439783096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.573558807373047,
                "transform": {
                    "location": {
                        "x": -1594.485107421875,
                        "y": 1610.4598388671875,
                        "z": 324.3863525390625
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.26562604308128357,
                        "yaw": 0.7733321189880371
                    }
                },
                "velocity": {
                    "x": 5.57309627532959,
                    "y": 0.06410511583089828,
                    "z": -0.032349225133657455
                },
                "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": 0.0455542616546154,
        "expert_target_speed": 6.3510246223918,
        "target_point": [
            18.81316528433782,
            -0.09592494810497709
        ],
        "target_point_next": [
            69.81134220743331,
            -0.5224623975443891
        ]
    },
    "180": {
        "acceleration": [
            -0.3795337677001953,
            -2.423501968383789,
            0.160740464925766
        ],
        "angular_velocity": [
            -1.3024075031280518,
            -0.1839059442281723,
            -7.550172805786133
        ],
        "forward_vector": [
            0.9997391104698181,
            0.006690261885523796,
            -0.021836809813976288
        ],
        "right_vector": [
            -0.006726270075887442,
            0.9999760985374451,
            -0.0015759270172566175
        ],
        "location": [
            -1636.203125,
            1609.9609375,
            325.0715026855469
        ],
        "rotation": [
            0.09031554311513901,
            -1.2512564659118652,
            0.3834180533885956
        ],
        "velocity": [
            5.118801593780518,
            -0.12730994820594788,
            -0.10097432881593704
        ],
        "speed": 5.1203845147998575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.114479064941406,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1611.095947265625,
                1610.337158203125,
                324.5970153808594
            ],
            "velocity": [
                4.496301174163818,
                0.03775070235133171,
                -0.07632015645503998
            ],
            "speed_kmh": 16.189586305169374,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019726753234863,
                "transform": {
                    "location": {
                        "x": -1577.7076416015625,
                        "y": 1606.96533203125,
                        "z": 324.3386535644531
                    },
                    "rotation": {
                        "roll": 0.003129530232399702,
                        "pitch": 0.12781332433223724,
                        "yaw": -178.89236450195312
                    }
                },
                "velocity": {
                    "x": -8.01860237121582,
                    "y": -0.13300670683383942,
                    "z": 0.018608741462230682
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05038833618164,
                "transform": {
                    "location": {
                        "x": -1618.3741455078125,
                        "y": 1606.5760498046875,
                        "z": 324.72503662109375
                    },
                    "rotation": {
                        "roll": 0.0005258891033008695,
                        "pitch": 1.0916348695755005,
                        "yaw": -179.50448608398438
                    }
                },
                "velocity": {
                    "x": -8.048684120178223,
                    "y": -0.06764397770166397,
                    "z": 0.1511753499507904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025262832641602,
                "transform": {
                    "location": {
                        "x": -1660.91748046875,
                        "y": 1606.2196044921875,
                        "z": 325.7450256347656
                    },
                    "rotation": {
                        "roll": -0.00012206978135509416,
                        "pitch": 1.83650803565979,
                        "yaw": -179.5128631591797
                    }
                },
                "velocity": {
                    "x": -8.02087688446045,
                    "y": -0.06945199519395828,
                    "z": 0.25604721903800964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.910425186157227,
                "transform": {
                    "location": {
                        "x": -1669.68408203125,
                        "y": 1609.8448486328125,
                        "z": 326.0416259765625
                    },
                    "rotation": {
                        "roll": -0.0020751943811774254,
                        "pitch": -2.069458484649658,
                        "yaw": 0.5322272777557373
                    }
                },
                "velocity": {
                    "x": 5.906555652618408,
                    "y": 0.049735959619283676,
                    "z": -0.20798107981681824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.232743740081787,
                "transform": {
                    "location": {
                        "x": -1653.980712890625,
                        "y": 1609.972900390625,
                        "z": 325.5306701660156
                    },
                    "rotation": {
                        "roll": -0.0004882814828306437,
                        "pitch": -1.4132070541381836,
                        "yaw": 0.5249200463294983
                    }
                },
                "velocity": {
                    "x": 4.230752944946289,
                    "y": 0.03799811378121376,
                    "z": -0.12411214411258698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.49710750579834,
                "transform": {
                    "location": {
                        "x": -1611.095947265625,
                        "y": 1610.337158203125,
                        "z": 324.5970153808594
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -1.3812553882598877,
                        "yaw": 0.5021597743034363
                    }
                },
                "velocity": {
                    "x": 4.496301174163818,
                    "y": 0.03775070235133171,
                    "z": -0.07632015645503998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.51460075378418,
                "transform": {
                    "location": {
                        "x": -1593.08935546875,
                        "y": 1610.47607421875,
                        "z": 324.3791809082031
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.22954899072647095,
                        "yaw": 0.6620052456855774
                    }
                },
                "velocity": {
                    "x": 5.514251708984375,
                    "y": 0.05792295187711716,
                    "z": -0.022297535091638565
                },
                "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": 0.0814446434378624,
        "expert_target_speed": 6.212885452962436,
        "target_point": [
            17.510181324631795,
            0.09474142570917793
        ],
        "target_point_next": [
            68.51006908315797,
            0.18095217244855338
        ]
    },
    "185": {
        "acceleration": [
            -0.6128406524658203,
            -0.7432159781455994,
            0.0797078013420105
        ],
        "angular_velocity": [
            -0.6206506490707397,
            0.14666353166103363,
            -9.16051959991455
        ],
        "forward_vector": [
            0.9996025562286377,
            -0.017848100513219833,
            -0.021822744980454445
        ],
        "right_vector": [
            0.01778588443994522,
            0.9998371601104736,
            -0.003041686490178108
        ],
        "location": [
            -1634.9254150390625,
            1609.927734375,
            325.0434265136719
        ],
        "rotation": [
            0.17431758344173431,
            -1.2504504919052124,
            -1.022918701171875
        ],
        "velocity": [
            5.1637983322143555,
            -0.20836547017097473,
            -0.11967159807682037
        ],
        "speed": 5.168000520988686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.03873062133789,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1609.8946533203125,
                1610.3472900390625,
                324.5712890625
            ],
            "velocity": [
                5.026683807373047,
                0.04271894693374634,
                -0.08163481205701828
            ],
            "speed_kmh": 18.099101322539177,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.031559944152832,
                "transform": {
                    "location": {
                        "x": -1579.7138671875,
                        "y": 1606.9315185546875,
                        "z": 324.3431701660156
                    },
                    "rotation": {
                        "roll": 0.002810475416481495,
                        "pitch": 0.12790894508361816,
                        "yaw": -179.0764923095703
                    }
                },
                "velocity": {
                    "x": -8.030599594116211,
                    "y": -0.1228533536195755,
                    "z": 0.01842479594051838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029535293579102,
                "transform": {
                    "location": {
                        "x": -1620.38525390625,
                        "y": 1606.558837890625,
                        "z": 324.76275634765625
                    },
                    "rotation": {
                        "roll": 0.0007694250671193004,
                        "pitch": 1.0832816362380981,
                        "yaw": -179.52479553222656
                    }
                },
                "velocity": {
                    "x": -8.027832984924316,
                    "y": -0.06733935326337814,
                    "z": 0.15101562440395355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02258014678955,
                "transform": {
                    "location": {
                        "x": -1662.9229736328125,
                        "y": 1606.2027587890625,
                        "z": 325.8092956542969
                    },
                    "rotation": {
                        "roll": -0.0002441413525957614,
                        "pitch": 1.9150551557540894,
                        "yaw": -179.51402282714844
                    }
                },
                "velocity": {
                    "x": -8.017996788024902,
                    "y": -0.06798050552606583,
                    "z": 0.2624765932559967
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.288614749908447,
                "transform": {
                    "location": {
                        "x": -1668.102783203125,
                        "y": 1609.8585205078125,
                        "z": 325.98663330078125
                    },
                    "rotation": {
                        "roll": -0.0012817379320040345,
                        "pitch": -2.148162603378296,
                        "yaw": 0.5054744482040405
                    }
                },
                "velocity": {
                    "x": 7.283839702606201,
                    "y": 0.06142432242631912,
                    "z": -0.25653645396232605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.372870445251465,
                "transform": {
                    "location": {
                        "x": -1652.7440185546875,
                        "y": 1609.98388671875,
                        "z": 325.49560546875
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -1.4448171854019165,
                        "yaw": 0.5248410105705261
                    }
                },
                "velocity": {
                    "x": 5.370509624481201,
                    "y": 0.04751123487949371,
                    "z": -0.1520099937915802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.027528285980225,
                "transform": {
                    "location": {
                        "x": -1609.8946533203125,
                        "y": 1610.3472900390625,
                        "z": 324.5712890625
                    },
                    "rotation": {
                        "roll": -3.0517338018398732e-05,
                        "pitch": -0.7239658832550049,
                        "yaw": 0.489572674036026
                    }
                },
                "velocity": {
                    "x": 5.026683807373047,
                    "y": 0.04271894693374634,
                    "z": -0.08163481205701828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.057156562805176,
                "transform": {
                    "location": {
                        "x": -1591.769287109375,
                        "y": 1610.4901123046875,
                        "z": 324.37408447265625
                    },
                    "rotation": {
                        "roll": -0.00015258802159223706,
                        "pitch": -0.2563779652118683,
                        "yaw": 0.5958899855613708
                    }
                },
                "velocity": {
                    "x": 5.056854724884033,
                    "y": 0.05074252560734749,
                    "z": -0.021908879280090332
                },
                "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": 0.19453179836273193,
        "expert_target_speed": 6.262847451711933,
        "target_point": [
            16.22448263594669,
            0.5348481692503788
        ],
        "target_point_next": [
            67.2068924572628,
            1.8727093303928948
        ]
    },
    "190": {
        "acceleration": [
            -0.38247108459472656,
            -1.8249541521072388,
            0.02466261386871338
        ],
        "angular_velocity": [
            -1.1851314306259155,
            0.1492595076560974,
            -4.598641872406006
        ],
        "forward_vector": [
            0.9988718628883362,
            -0.041193511337041855,
            -0.023622697219252586
        ],
        "right_vector": [
            0.04116266593337059,
            0.999150812625885,
            -0.0017907285364344716
        ],
        "location": [
            -1633.648681640625,
            1609.871826171875,
            325.01727294921875
        ],
        "rotation": [
            0.1026298850774765,
            -1.3536068201065063,
            -2.361541748046875
        ],
        "velocity": [
            5.073344707489014,
            -0.3428977429866791,
            -0.10043704509735107
        ],
        "speed": 5.084919407734222,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.02406883239746,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1608.6336669921875,
                1610.3580322265625,
                324.5517578125
            ],
            "velocity": [
                5.161501884460449,
                0.044011712074279785,
                -0.08552510291337967
            ],
            "speed_kmh": 18.584632858198358,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.97610330581665,
                "transform": {
                    "location": {
                        "x": -1581.71435546875,
                        "y": 1606.90185546875,
                        "z": 324.3476867675781
                    },
                    "rotation": {
                        "roll": 0.0026537023950368166,
                        "pitch": 0.12780649960041046,
                        "yaw": -179.2305145263672
                    }
                },
                "velocity": {
                    "x": -7.975428104400635,
                    "y": -0.10218939185142517,
                    "z": 0.018194522708654404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021163940429688,
                "transform": {
                    "location": {
                        "x": -1622.3892822265625,
                        "y": 1606.5418701171875,
                        "z": 324.80035400390625
                    },
                    "rotation": {
                        "roll": 0.00019620911916717887,
                        "pitch": 1.0830835103988647,
                        "yaw": -179.5004425048828
                    }
                },
                "velocity": {
                    "x": -8.019448280334473,
                    "y": -0.06925260275602341,
                    "z": 0.1507025808095932
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026009559631348,
                "transform": {
                    "location": {
                        "x": -1664.927734375,
                        "y": 1606.185546875,
                        "z": 325.87567138671875
                    },
                    "rotation": {
                        "roll": 0.00023437176423612982,
                        "pitch": 1.9094270467758179,
                        "yaw": -179.51063537597656
                    }
                },
                "velocity": {
                    "x": -8.021294593811035,
                    "y": -0.06852888315916061,
                    "z": 0.2663918137550354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.916316509246826,
                "transform": {
                    "location": {
                        "x": -1666.1536865234375,
                        "y": 1609.8751220703125,
                        "z": 325.9196472167969
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": -2.024836778640747,
                        "yaw": 0.48506009578704834
                    }
                },
                "velocity": {
                    "x": 7.911649703979492,
                    "y": 0.06430293619632721,
                    "z": -0.2640608251094818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.611132621765137,
                "transform": {
                    "location": {
                        "x": -1651.3671875,
                        "y": 1609.99658203125,
                        "z": 325.4560546875
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -1.57646906375885,
                        "yaw": 0.528971254825592
                    }
                },
                "velocity": {
                    "x": 5.608597755432129,
                    "y": 0.050784043967723846,
                    "z": -0.16081318259239197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.162398338317871,
                "transform": {
                    "location": {
                        "x": -1608.6336669921875,
                        "y": 1610.3580322265625,
                        "z": 324.5517578125
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": -0.8651731610298157,
                        "yaw": 0.4888688027858734
                    }
                },
                "velocity": {
                    "x": 5.161501884460449,
                    "y": 0.044011712074279785,
                    "z": -0.08552510291337967
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.248340606689453,
                "transform": {
                    "location": {
                        "x": -1590.477294921875,
                        "y": 1610.503662109375,
                        "z": 324.3692626953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20926332473754883,
                        "yaw": 0.496518075466156
                    }
                },
                "velocity": {
                    "x": 5.248080730438232,
                    "y": 0.050183311104774475,
                    "z": -0.014502935111522675
                },
                "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": 0.306203156709671,
        "expert_target_speed": 6.182016599312961,
        "target_point": [
            14.929607308650253,
            0.9169789135530186
        ],
        "target_point_next": [
            65.8668494078337,
            3.445486577036895
        ]
    },
    "195": {
        "acceleration": [
            -0.13925552368164062,
            1.3963282108306885,
            0.32536402344703674
        ],
        "angular_velocity": [
            0.561695396900177,
            -1.139058232307434,
            -4.289738655090332
        ],
        "forward_vector": [
            0.9978010058403015,
            -0.06283139437437057,
            -0.0211018156260252
        ],
        "right_vector": [
            0.06278043240308762,
            0.9980226159095764,
            -0.0030694573651999235
        ],
        "location": [
            -1632.376708984375,
            1609.793212890625,
            324.9892883300781
        ],
        "rotation": [
            0.17590640485286713,
            -1.2091346979141235,
            -3.603149890899658
        ],
        "velocity": [
            5.106634616851807,
            -0.3014058768749237,
            -0.12341565638780594
        ],
        "speed": 5.115521734158104,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.15021324157715,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1607.2373046875,
                1610.369384765625,
                324.5292053222656
            ],
            "velocity": [
                6.097134113311768,
                0.05214722082018852,
                -0.08646131306886673
            ],
            "speed_kmh": 21.952692344211673,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.788154602050781,
                "transform": {
                    "location": {
                        "x": -1583.5224609375,
                        "y": 1606.8790283203125,
                        "z": 324.35205078125
                    },
                    "rotation": {
                        "roll": 0.002002184512093663,
                        "pitch": 0.09670181572437286,
                        "yaw": -179.3599853515625
                    }
                },
                "velocity": {
                    "x": -6.787717819213867,
                    "y": -0.07552428543567657,
                    "z": 0.015170802362263203
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039447784423828,
                "transform": {
                    "location": {
                        "x": -1624.3974609375,
                        "y": 1606.5252685546875,
                        "z": 324.8379821777344
                    },
                    "rotation": {
                        "roll": -0.0004577638756018132,
                        "pitch": 1.0873318910598755,
                        "yaw": -179.53228759765625
                    }
                },
                "velocity": {
                    "x": -8.037742614746094,
                    "y": -0.0673954114317894,
                    "z": 0.15124818682670593
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021355628967285,
                "transform": {
                    "location": {
                        "x": -1666.9327392578125,
                        "y": 1606.1690673828125,
                        "z": 325.94366455078125
                    },
                    "rotation": {
                        "roll": -0.00018310612358618528,
                        "pitch": 1.9793955087661743,
                        "yaw": -179.5174560546875
                    }
                },
                "velocity": {
                    "x": -8.016376495361328,
                    "y": -0.06750106811523438,
                    "z": 0.27441415190696716
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.895569801330566,
                "transform": {
                    "location": {
                        "x": -1664.2977294921875,
                        "y": 1609.890625,
                        "z": 325.85595703125
                    },
                    "rotation": {
                        "roll": 0.00043913061381317675,
                        "pitch": -1.793511986732483,
                        "yaw": 0.4792986810207367
                    }
                },
                "velocity": {
                    "x": 6.8915863037109375,
                    "y": 0.05781536549329758,
                    "z": -0.22711822390556335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8686842918396,
                "transform": {
                    "location": {
                        "x": -1649.59814453125,
                        "y": 1610.0123291015625,
                        "z": 325.4072265625
                    },
                    "rotation": {
                        "roll": -0.0007629395695403218,
                        "pitch": -1.3159451484680176,
                        "yaw": 0.5306301712989807
                    }
                },
                "velocity": {
                    "x": 7.86536979675293,
                    "y": 0.07039953768253326,
                    "z": -0.21724116802215576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.097970485687256,
                "transform": {
                    "location": {
                        "x": -1607.2373046875,
                        "y": 1610.369384765625,
                        "z": 324.5292053222656
                    },
                    "rotation": {
                        "roll": -0.00033569365041330457,
                        "pitch": -0.7543943524360657,
                        "yaw": 0.5430368185043335
                    }
                },
                "velocity": {
                    "x": 6.097134113311768,
                    "y": 0.05214722082018852,
                    "z": -0.08646131306886673
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.394027233123779,
                "transform": {
                    "location": {
                        "x": -1589.1436767578125,
                        "y": 1610.5164794921875,
                        "z": 324.36480712890625
                    },
                    "rotation": {
                        "roll": 0.00038199572009034455,
                        "pitch": -0.1467602699995041,
                        "yaw": 0.4341884255409241
                    }
                },
                "velocity": {
                    "x": 5.393793106079102,
                    "y": 0.04788978025317192,
                    "z": -0.015248994342982769
                },
                "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": 0.4354442059993744,
        "expert_target_speed": 6.220069966807497,
        "target_point": [
            13.631833752977128,
            1.2387847471049775
        ],
        "target_point_next": [
            64.50232769127763,
            4.870427646462519
        ]
    },
    "200": {
        "acceleration": [
            -0.17457962036132812,
            0.42469292879104614,
            0.06407126784324646
        ],
        "angular_velocity": [
            0.49033668637275696,
            0.02766128070652485,
            6.8168253898620605
        ],
        "forward_vector": [
            0.9983977675437927,
            -0.052970122545957565,
            -0.019902106374502182
        ],
        "right_vector": [
            0.05297275260090828,
            0.9985958933830261,
            -0.00039536674739792943
        ],
        "location": [
            -1631.1033935546875,
            1609.73095703125,
            324.9618225097656
        ],
        "rotation": [
            0.022657332941889763,
            -1.140381932258606,
            -3.036987781524658
        ],
        "velocity": [
            5.072752952575684,
            -0.19990862905979156,
            -0.10069867223501205
        ],
        "speed": 5.076690455192032,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.567134857177734,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1605.5487060546875,
                1610.3839111328125,
                324.5035400390625
            ],
            "velocity": [
                7.416510581970215,
                0.06431827694177628,
                -0.10256567597389221
            ],
            "speed_kmh": 26.702995030401052,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.187675952911377,
                "transform": {
                    "location": {
                        "x": -1585.2496337890625,
                        "y": 1606.8599853515625,
                        "z": 324.3555603027344
                    },
                    "rotation": {
                        "roll": 0.0010144984116777778,
                        "pitch": 0.1322324573993683,
                        "yaw": -179.42262268066406
                    }
                },
                "velocity": {
                    "x": -7.18726921081543,
                    "y": -0.07474640011787415,
                    "z": 0.016111334785819054
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024621963500977,
                "transform": {
                    "location": {
                        "x": -1626.4051513671875,
                        "y": 1606.5084228515625,
                        "z": 324.87591552734375
                    },
                    "rotation": {
                        "roll": -0.0003662107337731868,
                        "pitch": 1.095446228981018,
                        "yaw": -179.50604248046875
                    }
                },
                "velocity": {
                    "x": -8.022846221923828,
                    "y": -0.06810522079467773,
                    "z": 0.15449021756649017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024786949157715,
                "transform": {
                    "location": {
                        "x": -1668.9381103515625,
                        "y": 1606.15234375,
                        "z": 326.0126647949219
                    },
                    "rotation": {
                        "roll": 0.00036358906072564423,
                        "pitch": 2.0418167114257812,
                        "yaw": -179.5142822265625
                    }
                },
                "velocity": {
                    "x": -8.01953125,
                    "y": -0.06801742315292358,
                    "z": 0.2823146879673004
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.854097366333008,
                "transform": {
                    "location": {
                        "x": -1662.847412109375,
                        "y": 1609.90283203125,
                        "z": 325.8074035644531
                    },
                    "rotation": {
                        "roll": 0.00021610729163512588,
                        "pitch": -1.692015290260315,
                        "yaw": 0.4719688594341278
                    }
                },
                "velocity": {
                    "x": 4.85117769241333,
                    "y": 0.041424497961997986,
                    "z": -0.16315394639968872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.663196563720703,
                "transform": {
                    "location": {
                        "x": -1647.614501953125,
                        "y": 1610.0296630859375,
                        "z": 325.3529357910156
                    },
                    "rotation": {
                        "roll": 0.0004570841556414962,
                        "pitch": -1.476802945137024,
                        "yaw": 0.48413193225860596
                    }
                },
                "velocity": {
                    "x": 7.660257816314697,
                    "y": 0.06578322499990463,
                    "z": -0.20174498856067657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.417498588562012,
                "transform": {
                    "location": {
                        "x": -1605.5487060546875,
                        "y": 1610.3839111328125,
                        "z": 324.5035400390625
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.4656412899494171,
                        "yaw": 0.5175557136535645
                    }
                },
                "velocity": {
                    "x": 7.416510581970215,
                    "y": 0.06431827694177628,
                    "z": -0.10256567597389221
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.212477207183838,
                "transform": {
                    "location": {
                        "x": -1587.81494140625,
                        "y": 1610.52783203125,
                        "z": 324.3610534667969
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.12346932291984558,
                        "yaw": 0.48239389061927795
                    }
                },
                "velocity": {
                    "x": 5.212260723114014,
                    "y": 0.04616110399365425,
                    "z": -0.011214475147426128
                },
                "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": 0.4669739902019501,
        "expert_target_speed": 6.193338157650811,
        "target_point": [
            12.368583477290084,
            1.0987325826114065
        ],
        "target_point_next": [
            63.27247894661885,
            4.227535823912095
        ]
    },
    "205": {
        "acceleration": [
            4.832134246826172,
            0.42747780680656433,
            0.009830445051193237
        ],
        "angular_velocity": [
            0.263534277677536,
            -1.12681245803833,
            1.9559650421142578
        ],
        "forward_vector": [
            0.9991532564163208,
            -0.036248378455638885,
            -0.019464334473013878
        ],
        "right_vector": [
            0.036281198263168335,
            0.9993407130241394,
            0.0013355878181755543
        ],
        "location": [
            -1629.833984375,
            1609.693359375,
            324.9368896484375
        ],
        "rotation": [
            -0.07653806358575821,
            -1.1152946949005127,
            -2.077728033065796
        ],
        "velocity": [
            5.296182632446289,
            -0.08346527814865112,
            -0.1033320426940918
        ],
        "speed": 5.296840277833771,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.23369026184082,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1603.6138916015625,
                1610.402587890625,
                324.4783630371094
            ],
            "velocity": [
                7.4786224365234375,
                0.056233543902635574,
                -0.09321282058954239
            ],
            "speed_kmh": 26.925892952459762,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.735743522644043,
                "transform": {
                    "location": {
                        "x": -1587.14453125,
                        "y": 1606.841064453125,
                        "z": 324.35968017578125
                    },
                    "rotation": {
                        "roll": 0.0008477105293422937,
                        "pitch": 0.14898008108139038,
                        "yaw": -179.45779418945312
                    }
                },
                "velocity": {
                    "x": -7.735383033752441,
                    "y": -0.07276840507984161,
                    "z": 0.016804618760943413
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030118942260742,
                "transform": {
                    "location": {
                        "x": -1628.4114990234375,
                        "y": 1606.4918212890625,
                        "z": 324.9146728515625
                    },
                    "rotation": {
                        "roll": 0.00023063643311616033,
                        "pitch": 1.142451524734497,
                        "yaw": -179.52992248535156
                    }
                },
                "velocity": {
                    "x": -8.028341293334961,
                    "y": -0.06686009466648102,
                    "z": 0.1551755666732788
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.022143363952637,
                "transform": {
                    "location": {
                        "x": -1670.9425048828125,
                        "y": 1606.1351318359375,
                        "z": 326.08349609375
                    },
                    "rotation": {
                        "roll": 0.000801707268692553,
                        "pitch": 2.037008285522461,
                        "yaw": -179.5128631591797
                    }
                },
                "velocity": {
                    "x": -8.016810417175293,
                    "y": -0.0671747699379921,
                    "z": 0.28464844822883606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.276508331298828,
                "transform": {
                    "location": {
                        "x": -1661.5943603515625,
                        "y": 1609.9132080078125,
                        "z": 325.76849365234375
                    },
                    "rotation": {
                        "roll": 0.0005665282369591296,
                        "pitch": -1.8530234098434448,
                        "yaw": 0.462651789188385
                    }
                },
                "velocity": {
                    "x": 5.273792743682861,
                    "y": 0.04398089647293091,
                    "z": -0.1634516417980194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.795942783355713,
                "transform": {
                    "location": {
                        "x": -1645.8321533203125,
                        "y": 1610.045166015625,
                        "z": 325.30596923828125
                    },
                    "rotation": {
                        "roll": -0.00027465843595564365,
                        "pitch": -1.6169378757476807,
                        "yaw": 0.5123549103736877
                    }
                },
                "velocity": {
                    "x": 6.793344974517822,
                    "y": 0.05821743234992027,
                    "z": -0.17865616083145142
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.479414939880371,
                "transform": {
                    "location": {
                        "x": -1603.6138916015625,
                        "y": 1610.402587890625,
                        "z": 324.4783630371094
                    },
                    "rotation": {
                        "roll": 0.01687956228852272,
                        "pitch": -0.5338748693466187,
                        "yaw": 0.09750223904848099
                    }
                },
                "velocity": {
                    "x": 7.4786224365234375,
                    "y": 0.056233543902635574,
                    "z": -0.09321282058954239
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.03151798248291,
                "transform": {
                    "location": {
                        "x": -1586.539794921875,
                        "y": 1610.5386962890625,
                        "z": 324.3584289550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.13348238170146942,
                        "yaw": 0.47126173973083496
                    }
                },
                "velocity": {
                    "x": 5.031318664550781,
                    "y": 0.04346507042646408,
                    "z": -0.010940770618617535
                },
                "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": 0.4620356857776642,
        "expert_target_speed": 6.414938664494126,
        "target_point": [
            11.11530668577292,
            0.8830608169812061
        ],
        "target_point_next": [
            62.064448778251155,
            3.1592206785869608
        ]
    },
    "210": {
        "acceleration": [
            1.9357872009277344,
            0.5150066018104553,
            -0.01675635576248169
        ],
        "angular_velocity": [
            0.3157622218132019,
            -0.4820399284362793,
            4.3312907218933105
        ],
        "forward_vector": [
            0.9996708631515503,
            -0.015430759638547897,
            -0.020496241748332977
        ],
        "right_vector": [
            0.015474283136427402,
            0.9998784065246582,
            0.001966595882549882
        ],
        "location": [
            -1628.5538330078125,
            1609.6815185546875,
            324.91192626953125
        ],
        "rotation": [
            -0.11270139366388321,
            -1.1744304895401,
            -0.8843382596969604
        ],
        "velocity": [
            5.117356300354004,
            0.022634422406554222,
            -0.09971777349710464
        ],
        "speed": 5.117406356920515,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.148303985595703,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1602.419677734375,
                1610.4210205078125,
                324.4727478027344
            ],
            "velocity": [
                3.726140022277832,
                0.03000228852033615,
                -0.039678990840911865
            ],
            "speed_kmh": 13.41529942145371,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.697371482849121,
                "transform": {
                    "location": {
                        "x": -1589.273193359375,
                        "y": 1606.8214111328125,
                        "z": 324.36492919921875
                    },
                    "rotation": {
                        "roll": 0.0009175617014989257,
                        "pitch": 0.18426483869552612,
                        "yaw": -179.4909210205078
                    }
                },
                "velocity": {
                    "x": -8.696966171264648,
                    "y": -0.07811787724494934,
                    "z": 0.030711373314261436
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031612396240234,
                "transform": {
                    "location": {
                        "x": -1630.4193115234375,
                        "y": 1606.47509765625,
                        "z": 324.954345703125
                    },
                    "rotation": {
                        "roll": 0.0004323080647736788,
                        "pitch": 1.1510984897613525,
                        "yaw": -179.50904846191406
                    }
                },
                "velocity": {
                    "x": -8.02974796295166,
                    "y": -0.06692609935998917,
                    "z": 0.15958468616008759
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02426815032959,
                "transform": {
                    "location": {
                        "x": -1672.94677734375,
                        "y": 1606.1185302734375,
                        "z": 326.1551208496094
                    },
                    "rotation": {
                        "roll": 0.001250527217052877,
                        "pitch": 2.0775113105773926,
                        "yaw": -179.5193634033203
                    }
                },
                "velocity": {
                    "x": -8.018869400024414,
                    "y": -0.06730429083108902,
                    "z": 0.2864917814731598
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.745100975036621,
                "transform": {
                    "location": {
                        "x": -1660.226806640625,
                        "y": 1609.923095703125,
                        "z": 325.72564697265625
                    },
                    "rotation": {
                        "roll": -0.005157470703125,
                        "pitch": -1.8352376222610474,
                        "yaw": 0.6819899678230286
                    }
                },
                "velocity": {
                    "x": 5.742050647735596,
                    "y": 0.05011877417564392,
                    "z": -0.18036895990371704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.275265216827393,
                "transform": {
                    "location": {
                        "x": -1644.0904541015625,
                        "y": 1610.0599365234375,
                        "z": 325.2616271972656
                    },
                    "rotation": {
                        "roll": 0.0013107239501550794,
                        "pitch": -1.4212051630020142,
                        "yaw": 0.47327929735183716
                    }
                },
                "velocity": {
                    "x": 7.272687911987305,
                    "y": 0.061276525259017944,
                    "z": -0.1836736649274826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7264721393585205,
                "transform": {
                    "location": {
                        "x": -1602.419677734375,
                        "y": 1610.4210205078125,
                        "z": 324.4727478027344
                    },
                    "rotation": {
                        "roll": 0.04819466918706894,
                        "pitch": -1.6014333963394165,
                        "yaw": -0.740631103515625
                    }
                },
                "velocity": {
                    "x": 3.726140022277832,
                    "y": 0.03000228852033615,
                    "z": -0.039678990840911865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.487774848937988,
                "transform": {
                    "location": {
                        "x": -1585.2412109375,
                        "y": 1610.5496826171875,
                        "z": 324.35540771484375
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.11797785013914108,
                        "yaw": 0.5059858560562134
                    }
                },
                "velocity": {
                    "x": 5.487545490264893,
                    "y": 0.048687953501939774,
                    "z": -0.012035397812724113
                },
                "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": 0.4351983964443207,
        "expert_target_speed": 6.214648699929548,
        "target_point": [
            9.851105648478097,
            0.6434512817852434
        ],
        "target_point_next": [
            60.83660229376101,
            1.8579946152931446
        ]
    },
    "215": {
        "acceleration": [
            0.9366321563720703,
            0.5177468061447144,
            -0.10232388973236084
        ],
        "angular_velocity": [
            0.14272336661815643,
            -0.2407943606376648,
            4.1962785720825195
        ],
        "forward_vector": [
            0.999787449836731,
            0.004865807481110096,
            -0.020034639164805412
        ],
        "right_vector": [
            -0.004816893022507429,
            0.9999852776527405,
            0.0024890208151191473
        ],
        "location": [
            -1627.290771484375,
            1609.6949462890625,
            324.8874816894531
        ],
        "rotation": [
            -0.14263916015625,
            -1.1479771137237549,
            0.27884727716445923
        ],
        "velocity": [
            5.041609287261963,
            0.12260238081216812,
            -0.10047823935747147
        ],
        "speed": 5.0430997956799235,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.827945709228516,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1601.4766845703125,
                1610.4234619140625,
                324.4573974609375
            ],
            "velocity": [
                3.7382988929748535,
                0.019594473764300346,
                -0.03451954945921898
            ],
            "speed_kmh": 13.45863462096528,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1550.2962646484375,
                        "y": 1607.24609375,
                        "z": 324.48052978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4379585385322571,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.171225547790527,
                "transform": {
                    "location": {
                        "x": -1591.3704833984375,
                        "y": 1606.802734375,
                        "z": 324.37225341796875
                    },
                    "rotation": {
                        "roll": 0.0004022095527034253,
                        "pitch": 0.23883120715618134,
                        "yaw": -179.50645446777344
                    }
                },
                "velocity": {
                    "x": -8.170857429504395,
                    "y": -0.07120391726493835,
                    "z": 0.030763816088438034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025445938110352,
                "transform": {
                    "location": {
                        "x": -1632.426025390625,
                        "y": 1606.4583740234375,
                        "z": 324.9952087402344
                    },
                    "rotation": {
                        "roll": -0.00021362287225201726,
                        "pitch": 1.1899281740188599,
                        "yaw": -179.5317840576172
                    }
                },
                "velocity": {
                    "x": -8.023390769958496,
                    "y": -0.06658820062875748,
                    "z": 0.1689578741788864
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021316528320312,
                "transform": {
                    "location": {
                        "x": -1674.950927734375,
                        "y": 1606.101806640625,
                        "z": 326.2271728515625
                    },
                    "rotation": {
                        "roll": -0.00015258807979989797,
                        "pitch": 2.094525098800659,
                        "yaw": -179.51614379882812
                    }
                },
                "velocity": {
                    "x": -8.015771865844727,
                    "y": -0.06766519695520401,
                    "z": 0.29041218757629395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.048565864562988,
                "transform": {
                    "location": {
                        "x": -1658.6783447265625,
                        "y": 1609.9365234375,
                        "z": 325.6775817871094
                    },
                    "rotation": {
                        "roll": -0.005035400856286287,
                        "pitch": -1.8760615587234497,
                        "yaw": 0.6196630597114563
                    }
                },
                "velocity": {
                    "x": 7.044963359832764,
                    "y": 0.059538885951042175,
                    "z": -0.21732699871063232
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.767068386077881,
                "transform": {
                    "location": {
                        "x": -1642.3121337890625,
                        "y": 1610.0750732421875,
                        "z": 325.21673583984375
                    },
                    "rotation": {
                        "roll": -6.10357237746939e-05,
                        "pitch": -1.4393529891967773,
                        "yaw": 0.5067917108535767
                    }
                },
                "velocity": {
                    "x": 6.764832019805908,
                    "y": 0.05701659619808197,
                    "z": -0.16435058414936066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7385096549987793,
                "transform": {
                    "location": {
                        "x": -1601.4766845703125,
                        "y": 1610.4234619140625,
                        "z": 324.4573974609375
                    },
                    "rotation": {
                        "roll": 0.023115135729312897,
                        "pitch": -0.8166788220405579,
                        "yaw": -0.36480712890625
                    }
                },
                "velocity": {
                    "x": 3.7382988929748535,
                    "y": 0.019594473764300346,
                    "z": -0.03451954945921898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.362909317016602,
                "transform": {
                    "location": {
                        "x": -1583.8626708984375,
                        "y": 1610.5615234375,
                        "z": 324.3524475097656
                    },
                    "rotation": {
                        "roll": 0.000599841121584177,
                        "pitch": -0.12719860672950745,
                        "yaw": 0.48683783411979675
                    }
                },
                "velocity": {
                    "x": 5.362697601318359,
                    "y": 0.04597678408026695,
                    "z": -0.012538575567305088
                },
                "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": 0.40551021695137024,
        "expert_target_speed": 6.139117475131638,
        "target_point": [
            8.599025791248435,
            0.43606118257841175
        ],
        "target_point_next": [
            59.598671267629115,
            0.6153513345838473
        ]
    },
    "220": {
        "acceleration": [
            1.0931205749511719,
            0.3169330954551697,
            -0.024239420890808105
        ],
        "angular_velocity": [
            0.09867338836193085,
            -0.18987511098384857,
            6.6732072830200195
        ],
        "forward_vector": [
            0.9996211528778076,
            0.019496824592351913,
            -0.01942857913672924
        ],
        "right_vector": [
            -0.019461356103420258,
            0.9998086094856262,
            0.0020129678305238485
        ],
        "location": [
            -1626.0360107421875,
            1609.7265625,
            324.86334228515625
        ],
        "rotation": [
            -0.11535640805959702,
            -1.1132456064224243,
            1.1173675060272217
        ],
        "velocity": [
            5.0102128982543945,
            0.16571111977100372,
            -0.09478845447301865
        ],
        "speed": 5.0129525692001575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.58590316772461,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1600.463134765625,
                1610.4268798828125,
                324.4437255859375
            ],
            "velocity": [
                4.435040473937988,
                0.028399674221873283,
                -0.0444423109292984
            ],
            "speed_kmh": 15.967274627528113,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1552.3785400390625,
                        "y": 1607.228515625,
                        "z": 324.4278869628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3013615906238556,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.971684455871582,
                "transform": {
                    "location": {
                        "x": -1593.3822021484375,
                        "y": 1606.78515625,
                        "z": 324.38092041015625
                    },
                    "rotation": {
                        "roll": -9.15528362384066e-05,
                        "pitch": 0.24468468129634857,
                        "yaw": -179.51197814941406
                    }
                },
                "velocity": {
                    "x": -7.971309185028076,
                    "y": -0.06848987936973572,
                    "z": 0.0359756164252758
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030513763427734,
                "transform": {
                    "location": {
                        "x": -1634.433349609375,
                        "y": 1606.441650390625,
                        "z": 325.0373840332031
                    },
                    "rotation": {
                        "roll": 0.00028726167511194944,
                        "pitch": 1.2783654928207397,
                        "yaw": -179.50494384765625
                    }
                },
                "velocity": {
                    "x": -8.028432846069336,
                    "y": -0.06726538389921188,
                    "z": 0.1699742078781128
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024418830871582,
                "transform": {
                    "location": {
                        "x": -1676.954833984375,
                        "y": 1606.0850830078125,
                        "z": 326.29974365234375
                    },
                    "rotation": {
                        "roll": 0.00015049435023684055,
                        "pitch": 2.090147018432617,
                        "yaw": -179.5128173828125
                    }
                },
                "velocity": {
                    "x": -8.018881797790527,
                    "y": -0.06819915771484375,
                    "z": 0.2901301383972168
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.87626838684082,
                "transform": {
                    "location": {
                        "x": -1656.7584228515625,
                        "y": 1609.9537353515625,
                        "z": 325.6183776855469
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -1.8509197235107422,
                        "yaw": 0.5373077988624573
                    }
                },
                "velocity": {
                    "x": 7.872261047363281,
                    "y": 0.0669015645980835,
                    "z": -0.24214455485343933
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.841856002807617,
                "transform": {
                    "location": {
                        "x": -1640.64208984375,
                        "y": 1610.0889892578125,
                        "z": 325.1766357421875
                    },
                    "rotation": {
                        "roll": 0.00043859975994564593,
                        "pitch": -1.399198293685913,
                        "yaw": 0.4697231352329254
                    }
                },
                "velocity": {
                    "x": 6.839626789093018,
                    "y": 0.056781284511089325,
                    "z": -0.16514736413955688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.435354232788086,
                "transform": {
                    "location": {
                        "x": -1600.463134765625,
                        "y": 1610.4268798828125,
                        "z": 324.4437255859375
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -0.3318447172641754,
                        "yaw": -0.0551452599465847
                    }
                },
                "velocity": {
                    "x": 4.435040473937988,
                    "y": 0.028399674221873283,
                    "z": -0.0444423109292984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.999305248260498,
                "transform": {
                    "location": {
                        "x": -1582.5849609375,
                        "y": 1610.572509765625,
                        "z": 324.34942626953125
                    },
                    "rotation": {
                        "roll": 0.00031539189512841403,
                        "pitch": -0.14053113758563995,
                        "yaw": 0.5115702748298645
                    }
                },
                "velocity": {
                    "x": 4.9990925788879395,
                    "y": 0.043992988765239716,
                    "z": -0.01371594425290823
                },
                "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": 0.345070481300354,
        "expert_target_speed": 6.111913153642725,
        "target_point": [
            58.34615553980409,
            -0.2640497508206251
        ],
        "target_point_next": [
            105.34331340230527,
            -0.7866960153151894
        ]
    },
    "225": {
        "acceleration": [
            -0.5081081390380859,
            0.19982784986495972,
            -0.07792308926582336
        ],
        "angular_velocity": [
            0.022513527423143387,
            0.022353438660502434,
            2.675147533416748
        ],
        "forward_vector": [
            0.9992809295654297,
            0.03268355503678322,
            -0.01922048069536686
        ],
        "right_vector": [
            -0.03264607861638069,
            0.9994643926620483,
            0.002260603941977024
        ],
        "location": [
            -1624.787353515625,
            1609.7740478515625,
            324.839599609375
        ],
        "rotation": [
            -0.1295471042394638,
            -1.1013201475143433,
            1.8733094930648804
        ],
        "velocity": [
            4.978733062744141,
            0.23340004682540894,
            -0.09515510499477386
        ],
        "speed": 4.98420088799797,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.56316566467285,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1599.2359619140625,
                1610.433349609375,
                324.4308166503906
            ],
            "velocity": [
                5.061422348022461,
                0.03817398101091385,
                -0.047722186893224716
            ],
            "speed_kmh": 18.222448566296475,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1554.460693359375,
                        "y": 1607.211181640625,
                        "z": 324.37518310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3013615906238556,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.930947303771973,
                "transform": {
                    "location": {
                        "x": -1595.3668212890625,
                        "y": 1606.7684326171875,
                        "z": 324.3919982910156
                    },
                    "rotation": {
                        "roll": -6.103511987021193e-05,
                        "pitch": 0.3513995409011841,
                        "yaw": -179.51535034179688
                    }
                },
                "velocity": {
                    "x": -7.930449485778809,
                    "y": -0.06727086752653122,
                    "z": 0.05804944038391113
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.028532028198242,
                "transform": {
                    "location": {
                        "x": -1636.4400634765625,
                        "y": 1606.4249267578125,
                        "z": 325.0816650390625
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 1.2781741619110107,
                        "yaw": -179.5302276611328
                    }
                },
                "velocity": {
                    "x": -8.026253700256348,
                    "y": -0.0677228793501854,
                    "z": 0.1788685917854309
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020655632019043,
                "transform": {
                    "location": {
                        "x": -1678.958740234375,
                        "y": 1606.068359375,
                        "z": 326.3721008300781
                    },
                    "rotation": {
                        "roll": -9.155197767540812e-05,
                        "pitch": 2.085318088531494,
                        "yaw": -179.52227783203125
                    }
                },
                "velocity": {
                    "x": -8.015157699584961,
                    "y": -0.06677453964948654,
                    "z": 0.28933027386665344
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.998029708862305,
                "transform": {
                    "location": {
                        "x": -1654.902099609375,
                        "y": 1609.9696044921875,
                        "z": 325.56201171875
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -1.6290819644927979,
                        "yaw": 0.4974521994590759
                    }
                },
                "velocity": {
                    "x": 6.994856834411621,
                    "y": 0.05826536566019058,
                    "z": -0.2024921327829361
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9726243019104,
                "transform": {
                    "location": {
                        "x": -1638.869140625,
                        "y": 1610.1041259765625,
                        "z": 325.1347351074219
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": -1.3403289318084717,
                        "yaw": 0.5123862624168396
                    }
                },
                "velocity": {
                    "x": 6.970500946044922,
                    "y": 0.05966595560312271,
                    "z": -0.1613873988389969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.06179141998291,
                "transform": {
                    "location": {
                        "x": -1599.2359619140625,
                        "y": 1610.433349609375,
                        "z": 324.4308166503906
                    },
                    "rotation": {
                        "roll": -0.005523680709302425,
                        "pitch": -0.25008735060691833,
                        "yaw": 0.19204430282115936
                    }
                },
                "velocity": {
                    "x": 5.061422348022461,
                    "y": 0.03817398101091385,
                    "z": -0.047722186893224716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.007300853729248,
                "transform": {
                    "location": {
                        "x": -1581.3359375,
                        "y": 1610.5836181640625,
                        "z": 324.3465881347656
                    },
                    "rotation": {
                        "roll": -0.00018310535233467817,
                        "pitch": -0.13040196895599365,
                        "yaw": 0.463173508644104
                    }
                },
                "velocity": {
                    "x": 5.007102966308594,
                    "y": 0.04390252009034157,
                    "z": -0.0072961426340043545
                },
                "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": 0.27470141649246216,
        "expert_target_speed": 6.087684691907002,
        "target_point": [
            57.088051465922035,
            -1.0404494847030867
        ],
        "target_point_next": [
            104.0742234344292,
            -2.183099919665508
        ]
    },
    "230": {
        "acceleration": [
            -0.191802978515625,
            0.08245766162872314,
            0.007314234972000122
        ],
        "angular_velocity": [
            -0.07700782269239426,
            0.038903262466192245,
            2.0168445110321045
        ],
        "forward_vector": [
            0.9988755583763123,
            0.04334861412644386,
            -0.01919795200228691
        ],
        "right_vector": [
            -0.04331914335489273,
            0.9990593791007996,
            0.0019485404482111335
        ],
        "location": [
            -1623.5413818359375,
            1609.8348388671875,
            324.8161926269531
        ],
        "rotation": [
            -0.11166379600763321,
            -1.1000292301177979,
            2.484929323196411
        ],
        "velocity": [
            4.967118263244629,
            0.2663117051124573,
            -0.09265655279159546
        ],
        "speed": 4.9742522820357875,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.616334915161133,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1597.935302734375,
                1610.4425048828125,
                324.4211730957031
            ],
            "velocity": [
                5.278804302215576,
                0.04306017607450485,
                -0.04222389683127403
            ],
            "speed_kmh": 19.004935627073998,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.2079439163208,
                "transform": {
                    "location": {
                        "x": -1556.4993896484375,
                        "y": 1607.18408203125,
                        "z": 324.345458984375
                    },
                    "rotation": {
                        "roll": -0.055969227105379105,
                        "pitch": -0.3291536271572113,
                        "yaw": -179.1771697998047
                    }
                },
                "velocity": {
                    "x": -8.206721305847168,
                    "y": -0.13683368265628815,
                    "z": -0.036692701280117035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.027176856994629,
                "transform": {
                    "location": {
                        "x": -1597.3638916015625,
                        "y": 1606.7518310546875,
                        "z": 324.40533447265625
                    },
                    "rotation": {
                        "roll": -6.103535270085558e-05,
                        "pitch": 0.5103517174720764,
                        "yaw": -179.51673889160156
                    }
                },
                "velocity": {
                    "x": -8.026620864868164,
                    "y": -0.06785542517900467,
                    "z": 0.06563922762870789
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026325225830078,
                "transform": {
                    "location": {
                        "x": -1638.44677734375,
                        "y": 1606.408447265625,
                        "z": 325.12744140625
                    },
                    "rotation": {
                        "roll": 0.00043568696128204465,
                        "pitch": 1.3346120119094849,
                        "yaw": -179.50592041015625
                    }
                },
                "velocity": {
                    "x": -8.023868560791016,
                    "y": -0.06733483821153641,
                    "z": 0.18678511679172516
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0246000289917,
                "transform": {
                    "location": {
                        "x": -1680.96240234375,
                        "y": 1606.0518798828125,
                        "z": 326.4443054199219
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": 2.075141191482544,
                        "yaw": -179.51954650878906
                    }
                },
                "velocity": {
                    "x": -8.01914119720459,
                    "y": -0.06723228096961975,
                    "z": 0.28819841146469116
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3188018798828125,
                "transform": {
                    "location": {
                        "x": -1653.3013916015625,
                        "y": 1609.9830322265625,
                        "z": 325.5142822265625
                    },
                    "rotation": {
                        "roll": 0.0005508664180524647,
                        "pitch": -1.45602548122406,
                        "yaw": 0.48713621497154236
                    }
                },
                "velocity": {
                    "x": 5.316418170928955,
                    "y": 0.04525474086403847,
                    "z": -0.15265004336833954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.242560386657715,
                "transform": {
                    "location": {
                        "x": -1637.435791015625,
                        "y": 1610.1160888671875,
                        "z": 325.1008605957031
                    },
                    "rotation": {
                        "roll": -0.0007629400352016091,
                        "pitch": -1.725585699081421,
                        "yaw": 0.6980109214782715
                    }
                },
                "velocity": {
                    "x": 3.241623878479004,
                    "y": 0.022847775369882584,
                    "z": -0.07450181245803833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.279148578643799,
                "transform": {
                    "location": {
                        "x": -1597.935302734375,
                        "y": 1610.4425048828125,
                        "z": 324.4211730957031
                    },
                    "rotation": {
                        "roll": -0.0025634767953306437,
                        "pitch": -0.426941454410553,
                        "yaw": 0.3469145894050598
                    }
                },
                "velocity": {
                    "x": 5.278804302215576,
                    "y": 0.04306017607450485,
                    "z": -0.04222389683127403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.007783889770508,
                "transform": {
                    "location": {
                        "x": -1580.0848388671875,
                        "y": 1610.5943603515625,
                        "z": 324.34393310546875
                    },
                    "rotation": {
                        "roll": 0.00021260084758978337,
                        "pitch": -0.1279294341802597,
                        "yaw": 0.46104830503463745
                    }
                },
                "velocity": {
                    "x": 5.007585048675537,
                    "y": 0.04357905313372612,
                    "z": -0.00960513111203909
                },
                "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": 0.21388264000415802,
        "expert_target_speed": 6.079758169718281,
        "target_point": [
            55.82625689244565,
            -1.6564900994865384
        ],
        "target_point_next": [
            102.79755462386522,
            -3.3006299040607048
        ]
    },
    "235": {
        "acceleration": [
            -0.175933837890625,
            0.14710426330566406,
            0.006886422634124756
        ],
        "angular_velocity": [
            0.026669541373848915,
            0.024625632911920547,
            1.8449862003326416
        ],
        "forward_vector": [
            0.9984857439994812,
            0.05149387568235397,
            -0.01935146376490593
        ],
        "right_vector": [
            -0.0514669269323349,
            0.9986729025840759,
            0.0018883590819314122
        ],
        "location": [
            -1622.3055419921875,
            1609.9034423828125,
            324.7931823730469
        ],
        "rotation": [
            -0.1082153394818306,
            -1.1088265180587769,
            2.9522407054901123
        ],
        "velocity": [
            4.9208784103393555,
            0.2989874482154846,
            -0.09256239980459213
        ],
        "speed": 4.929953125896269,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.978219985961914,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1596.3360595703125,
                1610.455322265625,
                324.40673828125
            ],
            "velocity": [
                7.154714107513428,
                0.06499802321195602,
                -0.04473608732223511
            ],
            "speed_kmh": 25.75853710654654,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00992488861084,
                "transform": {
                    "location": {
                        "x": -1558.525634765625,
                        "y": 1607.1490478515625,
                        "z": 324.3385925292969
                    },
                    "rotation": {
                        "roll": -0.0377502478659153,
                        "pitch": -0.2825649082660675,
                        "yaw": -178.9828643798828
                    }
                },
                "velocity": {
                    "x": -8.008516311645508,
                    "y": -0.14790207147598267,
                    "z": -0.026014242321252823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0020112991333,
                "transform": {
                    "location": {
                        "x": -1599.368408203125,
                        "y": 1606.7352294921875,
                        "z": 324.42279052734375
                    },
                    "rotation": {
                        "roll": -0.0001831053668865934,
                        "pitch": 0.49352896213531494,
                        "yaw": -179.51724243164062
                    }
                },
                "velocity": {
                    "x": -8.001426696777344,
                    "y": -0.0674862489104271,
                    "z": 0.06925100088119507
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.027551651000977,
                "transform": {
                    "location": {
                        "x": -1640.453857421875,
                        "y": 1606.391357421875,
                        "z": 325.17425537109375
                    },
                    "rotation": {
                        "roll": -6.103450868977234e-05,
                        "pitch": 1.4091225862503052,
                        "yaw": -179.52391052246094
                    }
                },
                "velocity": {
                    "x": -8.024941444396973,
                    "y": -0.06783130764961243,
                    "z": 0.19311659038066864
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021567344665527,
                "transform": {
                    "location": {
                        "x": -1682.96630859375,
                        "y": 1606.0352783203125,
                        "z": 326.5162048339844
                    },
                    "rotation": {
                        "roll": 0.00011312996502965689,
                        "pitch": 2.074840545654297,
                        "yaw": -179.5196075439453
                    }
                },
                "velocity": {
                    "x": -8.016119956970215,
                    "y": -0.06724025309085846,
                    "z": 0.28780192136764526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.108083724975586,
                "transform": {
                    "location": {
                        "x": -1652.058837890625,
                        "y": 1609.993408203125,
                        "z": 325.4796142578125
                    },
                    "rotation": {
                        "roll": 0.00018758831720333546,
                        "pitch": -1.574092149734497,
                        "yaw": 0.4777649939060211
                    }
                },
                "velocity": {
                    "x": 5.105951309204102,
                    "y": 0.04295358434319496,
                    "z": -0.14119453728199005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7914482355117798,
                "transform": {
                    "location": {
                        "x": -1637.2115478515625,
                        "y": 1610.11572265625,
                        "z": 325.09661865234375
                    },
                    "rotation": {
                        "roll": 0.06106589734554291,
                        "pitch": -1.6397712230682373,
                        "yaw": 0.5591015815734863
                    }
                },
                "velocity": {
                    "x": 0.7912827134132385,
                    "y": -0.0009047213243320584,
                    "z": -0.016160592436790466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.155148983001709,
                "transform": {
                    "location": {
                        "x": -1596.3360595703125,
                        "y": 1610.455322265625,
                        "z": 324.40673828125
                    },
                    "rotation": {
                        "roll": -0.005035400390625,
                        "pitch": -0.1249992847442627,
                        "yaw": 0.4490574300289154
                    }
                },
                "velocity": {
                    "x": 7.154714107513428,
                    "y": 0.06499802321195602,
                    "z": -0.04473608732223511
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.020572662353516,
                "transform": {
                    "location": {
                        "x": -1578.833984375,
                        "y": 1610.6046142578125,
                        "z": 324.3410949707031
                    },
                    "rotation": {
                        "roll": 0.00028142050723545253,
                        "pitch": -0.1284758448600769,
                        "yaw": 0.5074870586395264
                    }
                },
                "velocity": {
                    "x": 5.020383358001709,
                    "y": 0.04259283095598221,
                    "z": -0.009373769164085388
                },
                "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": 0.1408022791147232,
        "expert_target_speed": 6.050398341822734,
        "target_point": [
            54.57315657178226,
            -2.1166212959868806
        ],
        "target_point_next": [
            101.52948221736344,
            -4.143808543574828
        ]
    },
    "240": {
        "acceleration": [
            -0.16275405883789062,
            0.14015495777130127,
            0.006355792284011841
        ],
        "angular_velocity": [
            0.03449979051947594,
            0.0013150748563930392,
            1.779201626777649
        ],
        "forward_vector": [
            0.9980469346046448,
            0.059388287365436554,
            -0.01937435008585453
        ],
        "right_vector": [
            -0.0593608058989048,
            0.9982345700263977,
            0.0019911364652216434
        ],
        "location": [
            -1621.0809326171875,
            1609.981201171875,
            324.77020263671875
        ],
        "rotation": [
            -0.11410520225763321,
            -1.110137939453125,
            3.405341625213623
        ],
        "velocity": [
            4.878971576690674,
            0.3340007960796356,
            -0.0917201042175293
        ],
        "speed": 4.890390595641345,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.679035186767578,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1594.4090576171875,
                1610.472412109375,
                324.3951416015625
            ],
            "velocity": [
                7.845522880554199,
                0.0681673213839531,
                -0.042339127510786057
            ],
            "speed_kmh": 28.245359720938296,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.19856071472168,
                "transform": {
                    "location": {
                        "x": -1560.552490234375,
                        "y": 1607.111328125,
                        "z": 324.3310852050781
                    },
                    "rotation": {
                        "roll": -0.0207824669778347,
                        "pitch": -0.2543562352657318,
                        "yaw": -178.92510986328125
                    }
                },
                "velocity": {
                    "x": -8.197023391723633,
                    "y": -0.15575385093688965,
                    "z": -0.03076457977294922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01121711730957,
                "transform": {
                    "location": {
                        "x": -1601.3704833984375,
                        "y": 1606.718505859375,
                        "z": 324.4433288574219
                    },
                    "rotation": {
                        "roll": -0.00018310514860786498,
                        "pitch": 0.6322910785675049,
                        "yaw": -179.51756286621094
                    }
                },
                "velocity": {
                    "x": -8.01040267944336,
                    "y": -0.06749607622623444,
                    "z": 0.09217678010463715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.027734756469727,
                "transform": {
                    "location": {
                        "x": -1642.4595947265625,
                        "y": 1606.3740234375,
                        "z": 325.2231140136719
                    },
                    "rotation": {
                        "roll": 0.0008014107006601989,
                        "pitch": 1.4037472009658813,
                        "yaw": -179.4961395263672
                    }
                },
                "velocity": {
                    "x": -8.025065422058105,
                    "y": -0.06865453720092773,
                    "z": 0.1953025758266449
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0244140625,
                "transform": {
                    "location": {
                        "x": -1684.970947265625,
                        "y": 1606.0184326171875,
                        "z": 326.5880126953125
                    },
                    "rotation": {
                        "roll": -0.00064086850034073,
                        "pitch": 2.0680172443389893,
                        "yaw": -179.51467895507812
                    }
                },
                "velocity": {
                    "x": -8.018990516662598,
                    "y": -0.06885509192943573,
                    "z": 0.28684118390083313
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.542511940002441,
                "transform": {
                    "location": {
                        "x": -1650.7496337890625,
                        "y": 1610.00439453125,
                        "z": 325.443359375
                    },
                    "rotation": {
                        "roll": 0.00029072471079416573,
                        "pitch": -1.6510615348815918,
                        "yaw": 0.46842220425605774
                    }
                },
                "velocity": {
                    "x": 5.540213108062744,
                    "y": 0.04613686352968216,
                    "z": -0.15280665457248688
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8951908349990845,
                "transform": {
                    "location": {
                        "x": -1636.8494873046875,
                        "y": 1610.1165771484375,
                        "z": 325.0895080566406
                    },
                    "rotation": {
                        "roll": 0.07633769512176514,
                        "pitch": -1.1801472902297974,
                        "yaw": 0.4736723005771637
                    }
                },
                "velocity": {
                    "x": 1.8947196006774902,
                    "y": 0.007709454745054245,
                    "z": -0.04154912009835243
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.845933437347412,
                "transform": {
                    "location": {
                        "x": -1594.4090576171875,
                        "y": 1610.472412109375,
                        "z": 324.3951416015625
                    },
                    "rotation": {
                        "roll": 0.0005973781226202846,
                        "pitch": -0.02609132044017315,
                        "yaw": 0.45605871081352234
                    }
                },
                "velocity": {
                    "x": 7.845522880554199,
                    "y": 0.0681673213839531,
                    "z": -0.042339127510786057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.918494701385498,
                "transform": {
                    "location": {
                        "x": -1577.5950927734375,
                        "y": 1610.615234375,
                        "z": 324.338134765625
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.12988287210464478,
                        "yaw": 0.5127434730529785
                    }
                },
                "velocity": {
                    "x": 4.918287754058838,
                    "y": 0.04379480332136154,
                    "z": -0.01089051179587841
                },
                "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": 0.04533301666378975,
        "expert_target_speed": 6.019749822976334,
        "target_point": [
            53.32764593402601,
            -2.553001251294754
        ],
        "target_point_next": [
            100.2664722624303,
            -4.951456834070292
        ]
    },
    "245": {
        "acceleration": [
            -0.13756752014160156,
            -0.047272443771362305,
            -0.004789382219314575
        ],
        "angular_velocity": [
            -0.13500653207302094,
            -0.0041055260226130486,
            1.2098520994186401
        ],
        "forward_vector": [
            0.9976056814193726,
            0.06639502197504044,
            -0.019355041906237602
        ],
        "right_vector": [
            -0.06637036800384521,
            0.9977931976318359,
            0.0019144527614116669
        ],
        "location": [
            -1619.8662109375,
            1610.06640625,
            324.7474365234375
        ],
        "rotation": [
            -0.1097106784582138,
            -1.1090314388275146,
            3.8076694011688232
        ],
        "velocity": [
            4.841114521026611,
            0.3530028462409973,
            -0.09074350446462631
        ],
        "speed": 4.85396753338431,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.11627960205078,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1592.7554931640625,
                1610.486083984375,
                324.3932800292969
            ],
            "velocity": [
                4.094398021697998,
                0.03387755528092384,
                -0.018617428839206696
            ],
            "speed_kmh": 14.740489794070875,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.993974685668945,
                "transform": {
                    "location": {
                        "x": -1562.5765380859375,
                        "y": 1607.0797119140625,
                        "z": 324.32659912109375
                    },
                    "rotation": {
                        "roll": 0.021361863240599632,
                        "pitch": -0.09172943234443665,
                        "yaw": -179.11671447753906
                    }
                },
                "velocity": {
                    "x": -7.993157863616943,
                    "y": -0.11373244971036911,
                    "z": -0.011089143343269825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.975042819976807,
                "transform": {
                    "location": {
                        "x": -1603.3687744140625,
                        "y": 1606.7020263671875,
                        "z": 324.4659118652344
                    },
                    "rotation": {
                        "roll": -3.051749081350863e-05,
                        "pitch": 0.7464713454246521,
                        "yaw": -179.5158233642578
                    }
                },
                "velocity": {
                    "x": -7.974103927612305,
                    "y": -0.06764744967222214,
                    "z": 0.10195928066968918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026103019714355,
                "transform": {
                    "location": {
                        "x": -1644.4661865234375,
                        "y": 1606.357177734375,
                        "z": 325.2736511230469
                    },
                    "rotation": {
                        "roll": 0.0009423779556527734,
                        "pitch": 1.477745532989502,
                        "yaw": -179.52932739257812
                    }
                },
                "velocity": {
                    "x": -8.02322769165039,
                    "y": -0.06695528328418732,
                    "z": 0.20409543812274933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020585060119629,
                "transform": {
                    "location": {
                        "x": -1686.974609375,
                        "y": 1606.001708984375,
                        "z": 326.6596374511719
                    },
                    "rotation": {
                        "roll": -0.0009155279258266091,
                        "pitch": 2.060483455657959,
                        "yaw": -179.51251220703125
                    }
                },
                "velocity": {
                    "x": -8.015186309814453,
                    "y": -0.06810205429792404,
                    "z": 0.2862449288368225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.078049659729004,
                "transform": {
                    "location": {
                        "x": -1649.30322265625,
                        "y": 1610.016845703125,
                        "z": 325.4039001464844
                    },
                    "rotation": {
                        "roll": 0.002048267750069499,
                        "pitch": -1.601651906967163,
                        "yaw": 0.42498448491096497
                    }
                },
                "velocity": {
                    "x": 6.075616359710693,
                    "y": 0.05349787697196007,
                    "z": -0.16344617307186127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.242964029312134,
                "transform": {
                    "location": {
                        "x": -1636.2181396484375,
                        "y": 1610.11962890625,
                        "z": 325.07586669921875
                    },
                    "rotation": {
                        "roll": 0.08519110083580017,
                        "pitch": -1.0429083108901978,
                        "yaw": 0.4045124650001526
                    }
                },
                "velocity": {
                    "x": 3.242133140563965,
                    "y": 0.024205340072512627,
                    "z": -0.06930427253246307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.09458065032959,
                "transform": {
                    "location": {
                        "x": -1592.7554931640625,
                        "y": 1610.486083984375,
                        "z": 324.3932800292969
                    },
                    "rotation": {
                        "roll": 0.000882134772837162,
                        "pitch": -0.8181815147399902,
                        "yaw": 0.5189403295516968
                    }
                },
                "velocity": {
                    "x": 4.094398021697998,
                    "y": 0.03387755528092384,
                    "z": -0.018617428839206696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8948893547058105,
                "transform": {
                    "location": {
                        "x": -1576.3719482421875,
                        "y": 1610.6221923828125,
                        "z": 324.3377990722656
                    },
                    "rotation": {
                        "roll": 0.218110129237175,
                        "pitch": -0.03170573711395264,
                        "yaw": 0.34279459714889526
                    }
                },
                "velocity": {
                    "x": 4.894861698150635,
                    "y": 0.010070244781672955,
                    "z": -0.013063554652035236
                },
                "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": -0.0398983433842659,
        "expert_target_speed": 5.966825276712425,
        "target_point": [
            52.09070589870342,
            -2.9317472630419963
        ],
        "target_point_next": [
            99.01153343589557,
            -5.659740938936106
        ]
    },
    "250": {
        "acceleration": [
            -0.124664306640625,
            -0.10867834091186523,
            -0.004191398620605469
        ],
        "angular_velocity": [
            -0.10272662341594696,
            -0.008066992275416851,
            -0.8023654222488403
        ],
        "forward_vector": [
            0.997657299041748,
            0.06562252342700958,
            -0.019329655915498734
        ],
        "right_vector": [
            -0.06562204658985138,
            0.9978443384170532,
            0.0006598078762181103
        ],
        "location": [
            -1618.65966796875,
            1610.146240234375,
            324.7248229980469
        ],
        "rotation": [
            -0.0378112755715847,
            -1.107576608657837,
            3.7633016109466553
        ],
        "velocity": [
            4.810882568359375,
            0.2977866232395172,
            -0.09078384935855865
        ],
        "speed": 4.8200900364541415,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.596364974975586,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1592.067626953125,
                1610.49169921875,
                324.39215087890625
            ],
            "velocity": [
                2.648277759552002,
                0.023480044677853584,
                -0.008707618340849876
            ],
            "speed_kmh": 9.534226180451935,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.174077987670898,
                "transform": {
                    "location": {
                        "x": -1564.5994873046875,
                        "y": 1607.0516357421875,
                        "z": 324.32476806640625
                    },
                    "rotation": {
                        "roll": 0.016107840463519096,
                        "pitch": 0.024540867656469345,
                        "yaw": -179.22103881835938
                    }
                },
                "velocity": {
                    "x": -8.173360824584961,
                    "y": -0.10822466760873795,
                    "z": 0.0030560207087546587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00989818572998,
                "transform": {
                    "location": {
                        "x": -1605.3668212890625,
                        "y": 1606.6854248046875,
                        "z": 324.4920349121094
                    },
                    "rotation": {
                        "roll": -9.15523778530769e-05,
                        "pitch": 0.7417380213737488,
                        "yaw": -179.51422119140625
                    }
                },
                "velocity": {
                    "x": -8.008777618408203,
                    "y": -0.06786452978849411,
                    "z": 0.11552964895963669
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025716781616211,
                "transform": {
                    "location": {
                        "x": -1646.47265625,
                        "y": 1606.340576171875,
                        "z": 325.32525634765625
                    },
                    "rotation": {
                        "roll": 0.000865595240611583,
                        "pitch": 1.5353444814682007,
                        "yaw": -179.51048278808594
                    }
                },
                "velocity": {
                    "x": -8.022621154785156,
                    "y": -0.06663676351308823,
                    "z": 0.21269471943378448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025503158569336,
                "transform": {
                    "location": {
                        "x": -1688.97900390625,
                        "y": 1605.984375,
                        "z": 326.7311096191406
                    },
                    "rotation": {
                        "roll": 0.0009825578890740871,
                        "pitch": 2.0612006187438965,
                        "yaw": -179.5089111328125
                    }
                },
                "velocity": {
                    "x": -8.02010440826416,
                    "y": -0.0687623843550682,
                    "z": 0.2861672043800354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.238668918609619,
                "transform": {
                    "location": {
                        "x": -1647.7017822265625,
                        "y": 1610.0299072265625,
                        "z": 325.36004638671875
                    },
                    "rotation": {
                        "roll": -6.103479245211929e-05,
                        "pitch": -1.51199209690094,
                        "yaw": 0.4646577835083008
                    }
                },
                "velocity": {
                    "x": 6.236245155334473,
                    "y": 0.052199192345142365,
                    "z": -0.16586674749851227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.784271240234375,
                "transform": {
                    "location": {
                        "x": -1635.1993408203125,
                        "y": 1610.127197265625,
                        "z": 325.0520935058594
                    },
                    "rotation": {
                        "roll": -0.019256591796875,
                        "pitch": -1.051849126815796,
                        "yaw": 0.4204180836677551
                    }
                },
                "velocity": {
                    "x": 4.782845973968506,
                    "y": 0.036788735538721085,
                    "z": -0.11081988364458084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6483962535858154,
                "transform": {
                    "location": {
                        "x": -1592.067626953125,
                        "y": 1610.49169921875,
                        "z": 324.39215087890625
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": -0.9867778420448303,
                        "yaw": 0.5424610376358032
                    }
                },
                "velocity": {
                    "x": 2.648277759552002,
                    "y": 0.023480044677853584,
                    "z": -0.008707618340849876
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.898943901062012,
                "transform": {
                    "location": {
                        "x": -1575.14013671875,
                        "y": 1610.6280517578125,
                        "z": 324.3326110839844
                    },
                    "rotation": {
                        "roll": -0.03155517578125,
                        "pitch": -0.13680867850780487,
                        "yaw": 0.27097782492637634
                    }
                },
                "velocity": {
                    "x": 4.898797512054443,
                    "y": 0.031850509345531464,
                    "z": -0.02045511268079281
                },
                "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": -0.09908533841371536,
        "expert_target_speed": 5.920942761433167,
        "target_point": [
            50.8837793748295,
            -2.8918788819520636
        ],
        "target_point_next": [
            97.8067053567211,
            -5.583537026770954
        ]
    },
    "255": {
        "acceleration": [
            -0.1165771484375,
            -0.08705377578735352,
            -0.00029012560844421387
        ],
        "angular_velocity": [
            -0.01655791513621807,
            0.0013141878880560398,
            -0.8522689342498779
        ],
        "forward_vector": [
            0.9978779554367065,
            0.06217929348349571,
            -0.019322620704770088
        ],
        "right_vector": [
            -0.06218033283948898,
            0.9980647563934326,
            0.000547443691175431
        ],
        "location": [
            -1617.4610595703125,
            1610.21875,
            324.70233154296875
        ],
        "rotation": [
            -0.0313720703125,
            -1.1071735620498657,
            3.565577268600464
        ],
        "velocity": [
            4.780858516693115,
            0.27643054723739624,
            -0.09027144312858582
        ],
        "speed": 4.788843493379488,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.107213973999023,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1591.3572998046875,
                1610.4984130859375,
                324.3826904296875
            ],
            "velocity": [
                3.05159592628479,
                0.027931183576583862,
                -0.010193100199103355
            ],
            "speed_kmh": 10.986266784000266,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.431390762329102,
                "transform": {
                    "location": {
                        "x": -1566.489013671875,
                        "y": 1607.028076171875,
                        "z": 324.3271484375
                    },
                    "rotation": {
                        "roll": 0.019174544140696526,
                        "pitch": -0.3982546627521515,
                        "yaw": -179.30889892578125
                    }
                },
                "velocity": {
                    "x": -6.430978298187256,
                    "y": -0.07278706133365631,
                    "z": 0.0027008056640625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.977206707000732,
                "transform": {
                    "location": {
                        "x": -1607.36572265625,
                        "y": 1606.6688232421875,
                        "z": 324.5212707519531
                    },
                    "rotation": {
                        "roll": 0.0003764490538742393,
                        "pitch": 0.9098153114318848,
                        "yaw": -179.513671875
                    }
                },
                "velocity": {
                    "x": -7.975956916809082,
                    "y": -0.06766223907470703,
                    "z": 0.12394902855157852
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025596618652344,
                "transform": {
                    "location": {
                        "x": -1648.4783935546875,
                        "y": 1606.323974609375,
                        "z": 325.3786315917969
                    },
                    "rotation": {
                        "roll": -0.00018310509040020406,
                        "pitch": 1.5349210500717163,
                        "yaw": -179.53521728515625
                    }
                },
                "velocity": {
                    "x": -8.02236557006836,
                    "y": -0.06693197786808014,
                    "z": 0.21762561798095703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1691.0577392578125,
                        "y": 1606.0633544921875,
                        "z": 326.8045959472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.023163318634033,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6628904342651367,
                "transform": {
                    "location": {
                        "x": -1646.363037109375,
                        "y": 1610.041259765625,
                        "z": 325.3229675292969
                    },
                    "rotation": {
                        "roll": 0.0001825574872782454,
                        "pitch": -1.3075850009918213,
                        "yaw": 0.47130945324897766
                    }
                },
                "velocity": {
                    "x": 3.66143798828125,
                    "y": 0.030200226232409477,
                    "z": -0.09862080961465836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.447728633880615,
                "transform": {
                    "location": {
                        "x": -1633.883056640625,
                        "y": 1610.13623046875,
                        "z": 325.0253601074219
                    },
                    "rotation": {
                        "roll": 0.12365742027759552,
                        "pitch": -1.1935412883758545,
                        "yaw": 0.5658131837844849
                    }
                },
                "velocity": {
                    "x": 5.446457386016846,
                    "y": 0.030869463458657265,
                    "z": -0.11357002705335617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.051740884780884,
                "transform": {
                    "location": {
                        "x": -1591.3572998046875,
                        "y": 1610.4984130859375,
                        "z": 324.3826904296875
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.12655657529830933,
                        "yaw": 0.538357138633728
                    }
                },
                "velocity": {
                    "x": 3.05159592628479,
                    "y": 0.027931183576583862,
                    "z": -0.010193100199103355
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8504180908203125,
                "transform": {
                    "location": {
                        "x": -1573.931640625,
                        "y": 1610.6346435546875,
                        "z": 324.3322448730469
                    },
                    "rotation": {
                        "roll": 0.12008189409971237,
                        "pitch": -0.22534841299057007,
                        "yaw": 0.4507158398628235
                    }
                },
                "velocity": {
                    "x": 4.850303649902344,
                    "y": 0.03294360637664795,
                    "z": -0.004858722444623709
                },
                "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": -0.15415039658546448,
        "expert_target_speed": 5.888464071667216,
        "target_point": [
            49.69265853687599,
            -2.714089567285929
        ],
        "target_point_next": [
            96.62459397489695,
            -5.243801470265684
        ]
    },
    "260": {
        "acceleration": [
            -0.10827064514160156,
            -0.07682383060455322,
            0.008979439735412598
        ],
        "angular_velocity": [
            -0.0038928783033043146,
            -0.003214831231161952,
            -0.8517934083938599
        ],
        "forward_vector": [
            0.9981027245521545,
            0.05846170708537102,
            -0.019315708428621292
        ],
        "right_vector": [
            -0.058462705463171005,
            0.9982894659042358,
            0.0005133615341037512
        ],
        "location": [
            -1616.26953125,
            1610.2860107421875,
            324.679931640625
        ],
        "rotation": [
            -0.029418937861919403,
            -1.1067774295806885,
            3.3521461486816406
        ],
        "velocity": [
            4.752952575683594,
            0.2567826509475708,
            -0.08875180035829544
        ],
        "speed": 4.7598839814143545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.786151885986328,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1590.486083984375,
                1610.5062255859375,
                324.3783264160156
            ],
            "velocity": [
                3.929734945297241,
                0.03646981343626976,
                -0.011276778765022755
            ],
            "speed_kmh": 14.147713258157633,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.767829418182373,
                "transform": {
                    "location": {
                        "x": -1567.9757080078125,
                        "y": 1607.011474609375,
                        "z": 324.32769775390625
                    },
                    "rotation": {
                        "roll": 0.010214359499514103,
                        "pitch": -0.4254456162452698,
                        "yaw": -179.38514709472656
                    }
                },
                "velocity": {
                    "x": -5.767497539520264,
                    "y": -0.06189378723502159,
                    "z": 0.0007214164361357689
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.006328582763672,
                "transform": {
                    "location": {
                        "x": -1609.3638916015625,
                        "y": 1606.652099609375,
                        "z": 324.5531311035156
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": 0.9795446991920471,
                        "yaw": -179.51373291015625
                    }
                },
                "velocity": {
                    "x": -8.004883766174316,
                    "y": -0.06792819499969482,
                    "z": 0.13606351613998413
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025691032409668,
                "transform": {
                    "location": {
                        "x": -1650.4849853515625,
                        "y": 1606.3072509765625,
                        "z": 325.43389892578125
                    },
                    "rotation": {
                        "roll": -0.0001831047557061538,
                        "pitch": 1.6212340593338013,
                        "yaw": -179.50775146484375
                    }
                },
                "velocity": {
                    "x": -8.022340774536133,
                    "y": -0.06837492436170578,
                    "z": 0.22156429290771484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1693.13916015625,
                        "y": 1606.04736328125,
                        "z": 326.8782958984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.023163318634033,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.35170799493789673,
                "transform": {
                    "location": {
                        "x": -1646.035888671875,
                        "y": 1610.043701171875,
                        "z": 325.31304931640625
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": -1.1452040672302246,
                        "yaw": 0.4872017502784729
                    }
                },
                "velocity": {
                    "x": 0.35159724950790405,
                    "y": 0.0030495035462081432,
                    "z": -0.008282060734927654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8382182121276855,
                "transform": {
                    "location": {
                        "x": -1632.4163818359375,
                        "y": 1610.1473388671875,
                        "z": 324.9931640625
                    },
                    "rotation": {
                        "roll": -0.02865600399672985,
                        "pitch": -0.9742717742919922,
                        "yaw": 0.6867945194244385
                    }
                },
                "velocity": {
                    "x": 6.8361101150512695,
                    "y": 0.05522799864411354,
                    "z": -0.16054992377758026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9299204349517822,
                "transform": {
                    "location": {
                        "x": -1590.486083984375,
                        "y": 1610.5062255859375,
                        "z": 324.3783264160156
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.07559652626514435,
                        "yaw": 0.5329098701477051
                    }
                },
                "velocity": {
                    "x": 3.929734945297241,
                    "y": 0.03646981343626976,
                    "z": -0.011276778765022755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.687763214111328,
                "transform": {
                    "location": {
                        "x": -1572.7476806640625,
                        "y": 1610.6392822265625,
                        "z": 324.3292236328125
                    },
                    "rotation": {
                        "roll": 0.07299160212278366,
                        "pitch": -0.19582834839820862,
                        "yaw": 0.7413104176521301
                    }
                },
                "velocity": {
                    "x": 4.687589168548584,
                    "y": 0.02990012988448143,
                    "z": -0.027160290628671646
                },
                "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": -0.20336981117725372,
        "expert_target_speed": 5.862660624079599,
        "target_point": [
            48.50900132804035,
            -2.526437376800038
        ],
        "target_point_next": [
            95.45003443868652,
            -4.881308238623858
        ]
    },
    "265": {
        "acceleration": [
            -0.10051727294921875,
            -0.07497966289520264,
            -0.0038307905197143555
        ],
        "angular_velocity": [
            0.00953788310289383,
            -0.010717074386775494,
            -0.8477016091346741
        ],
        "forward_vector": [
            0.9983130097389221,
            0.054760925471782684,
            -0.01929556578397751
        ],
        "right_vector": [
            -0.05476224049925804,
            0.9984992742538452,
            0.00046064105117693543
        ],
        "location": [
            -1615.0848388671875,
            1610.3485107421875,
            324.6577453613281
        ],
        "rotation": [
            -0.026397705078125,
            -1.1056231260299683,
            3.13972544670105
        ],
        "velocity": [
            4.727058410644531,
            0.23785032331943512,
            -0.08874636143445969
        ],
        "speed": 4.733038558257091,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.726469039916992,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1589.3604736328125,
                1610.5164794921875,
                324.3749084472656
            ],
            "velocity": [
                4.9444475173950195,
                0.043449435383081436,
                -0.014719991013407707
            ],
            "speed_kmh": 17.80077718973591,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.035268306732178,
                "transform": {
                    "location": {
                        "x": -1569.5050048828125,
                        "y": 1606.9952392578125,
                        "z": 324.3258056640625
                    },
                    "rotation": {
                        "roll": 0.005943632684648037,
                        "pitch": 0.141268789768219,
                        "yaw": -179.3986053466797
                    }
                },
                "velocity": {
                    "x": -7.034897327423096,
                    "y": -0.07226622849702835,
                    "z": 0.0007694530067965388
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972476959228516,
                "transform": {
                    "location": {
                        "x": -1611.3607177734375,
                        "y": 1606.6356201171875,
                        "z": 324.5876159667969
                    },
                    "rotation": {
                        "roll": -0.00027465802850201726,
                        "pitch": 0.9850703477859497,
                        "yaw": -179.5137481689453
                    }
                },
                "velocity": {
                    "x": -7.970888614654541,
                    "y": -0.06763806939125061,
                    "z": 0.1440424770116806
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024460792541504,
                "transform": {
                    "location": {
                        "x": -1652.4908447265625,
                        "y": 1606.2906494140625,
                        "z": 325.49029541015625
                    },
                    "rotation": {
                        "roll": -3.051771273021586e-05,
                        "pitch": 1.6606032848358154,
                        "yaw": -179.52789306640625
                    }
                },
                "velocity": {
                    "x": -8.02087116241455,
                    "y": -0.06706979125738144,
                    "z": 0.23041120171546936
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6005,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1695.2205810546875,
                        "y": 1606.031494140625,
                        "z": 326.9520263671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.023163318634033,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2998194694519043,
                "transform": {
                    "location": {
                        "x": -1645.8228759765625,
                        "y": 1610.04541015625,
                        "z": 325.31060791015625
                    },
                    "rotation": {
                        "roll": -0.0006408699555322528,
                        "pitch": -1.5296002626419067,
                        "yaw": 0.4870593249797821
                    }
                },
                "velocity": {
                    "x": 1.299330472946167,
                    "y": 0.010186252184212208,
                    "z": -0.03416547551751137
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.660722732543945,
                "transform": {
                    "location": {
                        "x": -1630.5296630859375,
                        "y": 1610.16650390625,
                        "z": 324.9539489746094
                    },
                    "rotation": {
                        "roll": -0.01977538876235485,
                        "pitch": -0.9713143110275269,
                        "yaw": 0.7295925617218018
                    }
                },
                "velocity": {
                    "x": 7.6588053703308105,
                    "y": 0.08244398981332779,
                    "z": -0.15026378631591797
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.944660663604736,
                "transform": {
                    "location": {
                        "x": -1589.3604736328125,
                        "y": 1610.5164794921875,
                        "z": 324.3749084472656
                    },
                    "rotation": {
                        "roll": 0.0012635164894163609,
                        "pitch": 0.09013800323009491,
                        "yaw": 0.5231769680976868
                    }
                },
                "velocity": {
                    "x": 4.9444475173950195,
                    "y": 0.043449435383081436,
                    "z": -0.014719991013407707
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8152384757995605,
                "transform": {
                    "location": {
                        "x": -1571.5596923828125,
                        "y": 1610.6507568359375,
                        "z": 324.32513427734375
                    },
                    "rotation": {
                        "roll": -0.012847900390625,
                        "pitch": -0.06915566325187683,
                        "yaw": 0.7540918588638306
                    }
                },
                "velocity": {
                    "x": 4.814947605133057,
                    "y": 0.05285554751753807,
                    "z": -0.002506513614207506
                },
                "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": -0.24753247201442719,
        "expert_target_speed": 5.842028625441403,
        "target_point": [
            47.33169718987594,
            -2.344096993818903
        ],
        "target_point_next": [
            94.28113815064296,
            -4.524922466455028
        ]
    },
    "270": {
        "acceleration": [
            -0.09311676025390625,
            -0.07428079843521118,
            -0.004448890686035156
        ],
        "angular_velocity": [
            -0.0017370316199958324,
            -0.001076431479305029,
            -0.842726469039917
        ],
        "forward_vector": [
            0.9985086917877197,
            0.05107839033007622,
            -0.01927148923277855
        ],
        "right_vector": [
            -0.051080185920000076,
            0.9986945390701294,
            0.00039939998532645404
        ],
        "location": [
            -1613.90625,
            1610.406494140625,
            324.6356506347656
        ],
        "rotation": [
            -0.02288818359375,
            -1.1042433977127075,
            2.9283945560455322
        ],
        "velocity": [
            4.703055381774902,
            0.2192298024892807,
            -0.08893944323062897
        ],
        "speed": 4.708162234921537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.73978042602539,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1588.1680908203125,
                1610.52734375,
                324.3732604980469
            ],
            "velocity": [
                4.577648639678955,
                0.041136179119348526,
                -0.013306044973433018
            ],
            "speed_kmh": 16.480270098068257,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.282861709594727,
                "transform": {
                    "location": {
                        "x": -1571.4366455078125,
                        "y": 1606.9759521484375,
                        "z": 324.3263854980469
                    },
                    "rotation": {
                        "roll": 0.007597159128636122,
                        "pitch": 0.5582996606826782,
                        "yaw": -179.41998291015625
                    }
                },
                "velocity": {
                    "x": -8.28246784210205,
                    "y": -0.0800095647573471,
                    "z": 0.011258849874138832
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.004743576049805,
                "transform": {
                    "location": {
                        "x": -1613.3583984375,
                        "y": 1606.6190185546875,
                        "z": 324.6231689453125
                    },
                    "rotation": {
                        "roll": 0.0002485462464392185,
                        "pitch": 1.072045922279358,
                        "yaw": -179.51295471191406
                    }
                },
                "velocity": {
                    "x": -8.00312614440918,
                    "y": -0.06878586858510971,
                    "z": 0.14547190070152283
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023929595947266,
                "transform": {
                    "location": {
                        "x": -1654.4962158203125,
                        "y": 1606.273681640625,
                        "z": 325.54833984375
                    },
                    "rotation": {
                        "roll": 9.940870950231329e-05,
                        "pitch": 1.6748920679092407,
                        "yaw": -179.5034942626953
                    }
                },
                "velocity": {
                    "x": -8.020108222961426,
                    "y": -0.06914734095335007,
                    "z": 0.2377636879682541
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.177069902420044,
                "transform": {
                    "location": {
                        "x": -1645.3896484375,
                        "y": 1610.0491943359375,
                        "z": 325.2997131347656
                    },
                    "rotation": {
                        "roll": 0.000687990861479193,
                        "pitch": -1.5889819860458374,
                        "yaw": 0.47479507327079773
                    }
                },
                "velocity": {
                    "x": 2.176274061203003,
                    "y": 0.0193051528185606,
                    "z": -0.055598001927137375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.706505298614502,
                "transform": {
                    "location": {
                        "x": -1628.7330322265625,
                        "y": 1610.1849365234375,
                        "z": 324.9184265136719
                    },
                    "rotation": {
                        "roll": -0.010711669921875,
                        "pitch": -1.224912405014038,
                        "yaw": 0.8195146322250366
                    }
                },
                "velocity": {
                    "x": 6.7048845291137695,
                    "y": 0.065965436398983,
                    "z": -0.1318534016609192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.577852725982666,
                "transform": {
                    "location": {
                        "x": -1588.1680908203125,
                        "y": 1610.52734375,
                        "z": 324.3732604980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15106327831745148,
                        "yaw": 0.516520082950592
                    }
                },
                "velocity": {
                    "x": 4.577648639678955,
                    "y": 0.041136179119348526,
                    "z": -0.013306044973433018
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.6691083908081055,
                "transform": {
                    "location": {
                        "x": -1570.3660888671875,
                        "y": 1610.664794921875,
                        "z": 324.32415771484375
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": -0.03281222656369209,
                        "yaw": 0.6985293030738831
                    }
                },
                "velocity": {
                    "x": 4.668811321258545,
                    "y": 0.052554819732904434,
                    "z": -0.0032137774396687746
                },
                "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": -0.29440540075302124,
        "expert_target_speed": 5.815537688983546,
        "target_point": [
            46.16000922965084,
            -2.167196767959888
        ],
        "target_point_next": [
            93.11717468187622,
            -4.174836915740018
        ]
    },
    "275": {
        "acceleration": [
            -0.09485244750976562,
            -0.09732753038406372,
            0.008155256509780884
        ],
        "angular_velocity": [
            -0.021023880690336227,
            -0.21851252019405365,
            -1.059486985206604
        ],
        "forward_vector": [
            0.9987195730209351,
            0.0469612218439579,
            -0.018808210268616676
        ],
        "right_vector": [
            -0.046966325491666794,
            0.9988964796066284,
            0.0001704121386865154
        ],
        "location": [
            -1612.7332763671875,
            1610.4588623046875,
            324.61419677734375
        ],
        "rotation": [
            -0.009765624068677425,
            -1.0776945352554321,
            2.6921463012695312
        ],
        "velocity": [
            4.679150104522705,
            0.1941044181585312,
            -0.08219638466835022
        ],
        "speed": 4.683174374908915,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.68132209777832,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1587.05322265625,
                1610.537109375,
                324.3711242675781
            ],
            "velocity": [
                4.496529579162598,
                0.0399838425219059,
                -0.008726224303245544
            ],
            "speed_kmh": 16.188176930023683,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.14293384552002,
                "transform": {
                    "location": {
                        "x": -1573.5186767578125,
                        "y": 1606.9559326171875,
                        "z": 324.3307800292969
                    },
                    "rotation": {
                        "roll": 0.005161150824278593,
                        "pitch": 0.32981616258621216,
                        "yaw": -179.4580535888672
                    }
                },
                "velocity": {
                    "x": -8.142547607421875,
                    "y": -0.07698403298854828,
                    "z": 0.018938293680548668
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972231388092041,
                "transform": {
                    "location": {
                        "x": -1615.35498046875,
                        "y": 1606.601806640625,
                        "z": 324.6603698730469
                    },
                    "rotation": {
                        "roll": 0.00020215791300870478,
                        "pitch": 1.083903193473816,
                        "yaw": -179.50830078125
                    }
                },
                "velocity": {
                    "x": -7.970520973205566,
                    "y": -0.06749214231967926,
                    "z": 0.15071538090705872
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024704933166504,
                "transform": {
                    "location": {
                        "x": -1656.50244140625,
                        "y": 1606.2564697265625,
                        "z": 325.6080627441406
                    },
                    "rotation": {
                        "roll": 0.00012952813995070755,
                        "pitch": 1.763909935951233,
                        "yaw": -179.5247039794922
                    }
                },
                "velocity": {
                    "x": -8.020865440368652,
                    "y": -0.06695287674665451,
                    "z": 0.23899205029010773
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.092806577682495,
                "transform": {
                    "location": {
                        "x": -1644.7291259765625,
                        "y": 1610.0546875,
                        "z": 325.2831115722656
                    },
                    "rotation": {
                        "roll": -0.0001831051049521193,
                        "pitch": -1.5686962604522705,
                        "yaw": 0.4792868196964264
                    }
                },
                "velocity": {
                    "x": 3.091750144958496,
                    "y": 0.025668742135167122,
                    "z": -0.07664569467306137
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2428616285324097,
                "transform": {
                    "location": {
                        "x": -1627.64697265625,
                        "y": 1610.195068359375,
                        "z": 324.8963623046875
                    },
                    "rotation": {
                        "roll": -0.01812743954360485,
                        "pitch": -1.8011139631271362,
                        "yaw": 0.829847514629364
                    }
                },
                "velocity": {
                    "x": 1.2425681352615356,
                    "y": 0.011719129979610443,
                    "z": -0.024333901703357697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.496716022491455,
                "transform": {
                    "location": {
                        "x": -1587.05322265625,
                        "y": 1610.537109375,
                        "z": 324.3711242675781
                    },
                    "rotation": {
                        "roll": 0.00025263699353672564,
                        "pitch": -0.21243253350257874,
                        "yaw": 0.5109586119651794
                    }
                },
                "velocity": {
                    "x": 4.496529579162598,
                    "y": 0.0399838425219059,
                    "z": -0.008726224303245544
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.871148586273193,
                "transform": {
                    "location": {
                        "x": -1569.1842041015625,
                        "y": 1610.677490234375,
                        "z": 324.3231201171875
                    },
                    "rotation": {
                        "roll": 8.531830826541409e-05,
                        "pitch": 0.006884830072522163,
                        "yaw": 0.640504002571106
                    }
                },
                "velocity": {
                    "x": 4.870908260345459,
                    "y": 0.04837662726640701,
                    "z": -0.0002626895729918033
                },
                "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": -0.3225717842578888,
        "expert_target_speed": 5.789917333412538,
        "target_point": [
            44.994413877901266,
            -1.9740677254725758
        ],
        "target_point_next": [
            91.95945807470142,
            -3.7880770593119233
        ]
    },
    "280": {
        "acceleration": [
            -0.12945175170898438,
            -0.08894681930541992,
            0.0011755526065826416
        ],
        "angular_velocity": [
            -0.0578889325261116,
            -0.2022579461336136,
            -0.9435893297195435
        ],
        "forward_vector": [
            0.9989388585090637,
            0.04243260249495506,
            -0.017904037609696388
        ],
        "right_vector": [
            -0.0424380898475647,
            0.99909907579422,
            7.349147199420258e-05
        ],
        "location": [
            -1611.56640625,
            1610.5054931640625,
            324.5936279296875
        ],
        "rotation": [
            -0.004211426246911287,
            -1.0258806943893433,
            2.4323294162750244
        ],
        "velocity": [
            4.650611877441406,
            0.17138439416885376,
            -0.08091655373573303
        ],
        "speed": 4.653768735676893,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.70830535888672,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1585.859130859375,
                1610.547607421875,
                324.3673400878906
            ],
            "velocity": [
                4.789361953735352,
                0.04247511178255081,
                -0.009581050835549831
            ],
            "speed_kmh": 17.242415572298654,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1533.0811767578125,
                        "y": 1607.390380859375,
                        "z": 324.81976318359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8477493524551392,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.808940410614014,
                "transform": {
                    "location": {
                        "x": -1575.4888916015625,
                        "y": 1606.937744140625,
                        "z": 324.3363952636719
                    },
                    "rotation": {
                        "roll": 0.0035477285273373127,
                        "pitch": 0.08800015598535538,
                        "yaw": -179.47305297851562
                    }
                },
                "velocity": {
                    "x": -7.808589458465576,
                    "y": -0.07171135395765305,
                    "z": 0.018391065299510956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003969192504883,
                "transform": {
                    "location": {
                        "x": -1617.3516845703125,
                        "y": 1606.5849609375,
                        "z": 324.6980895996094
                    },
                    "rotation": {
                        "roll": 0.00015104704652912915,
                        "pitch": 1.076690435409546,
                        "yaw": -179.5143585205078
                    }
                },
                "velocity": {
                    "x": -8.002260208129883,
                    "y": -0.06876365095376968,
                    "z": 0.15042266249656677
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023774147033691,
                "transform": {
                    "location": {
                        "x": -1658.507568359375,
                        "y": 1606.239501953125,
                        "z": 325.6692810058594
                    },
                    "rotation": {
                        "roll": 0.0005696518928743899,
                        "pitch": 1.7855411767959595,
                        "yaw": -179.50209045410156
                    }
                },
                "velocity": {
                    "x": -8.019624710083008,
                    "y": -0.06867603212594986,
                    "z": 0.24872106313705444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.236927509307861,
                "transform": {
                    "location": {
                        "x": -1643.8094482421875,
                        "y": 1610.0625,
                        "z": 325.2601013183594
                    },
                    "rotation": {
                        "roll": -0.0005493159405887127,
                        "pitch": -1.5454394817352295,
                        "yaw": 0.48254168033599854
                    }
                },
                "velocity": {
                    "x": 4.23545503616333,
                    "y": 0.03565178066492081,
                    "z": -0.10584419965744019
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0085153579711914,
                "transform": {
                    "location": {
                        "x": -1627.5299072265625,
                        "y": 1610.1964111328125,
                        "z": 324.8948669433594
                    },
                    "rotation": {
                        "roll": -0.00973510555922985,
                        "pitch": -1.3401718139648438,
                        "yaw": 0.8019056916236877
                    }
                },
                "velocity": {
                    "x": 1.0082650184631348,
                    "y": 0.01160622201859951,
                    "z": -0.01924220100045204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.789559841156006,
                "transform": {
                    "location": {
                        "x": -1585.859130859375,
                        "y": 1610.547607421875,
                        "z": 324.3673400878906
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.04324192553758621,
                        "yaw": 0.5086580514907837
                    }
                },
                "velocity": {
                    "x": 4.789361953735352,
                    "y": 0.04247511178255081,
                    "z": -0.009581050835549831
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.633653163909912,
                "transform": {
                    "location": {
                        "x": -1567.993408203125,
                        "y": 1610.6893310546875,
                        "z": 324.3232421875
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.006837018765509129,
                        "yaw": 0.5932542681694031
                    }
                },
                "velocity": {
                    "x": 4.6334381103515625,
                    "y": 0.04464925825595856,
                    "z": 3.682136593852192e-05
                },
                "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": -0.34649479389190674,
        "expert_target_speed": 5.763031658348786,
        "target_point": [
            43.83510526647811,
            -1.767078587569807
        ],
        "target_point_next": [
            90.80789257532118,
            -3.3680966102163206
        ]
    },
    "285": {
        "acceleration": [
            -0.1302623748779297,
            -0.08742421865463257,
            0.04538819193840027
        ],
        "angular_velocity": [
            -0.0199432335793972,
            -0.057137951254844666,
            -1.1443665027618408
        ],
        "forward_vector": [
            0.9991341829299927,
            0.03790193423628807,
            -0.017154088243842125
        ],
        "right_vector": [
            -0.037907760590314865,
            0.9992812275886536,
            -1.457222879253095e-05
        ],
        "location": [
            -1610.407470703125,
            1610.5462646484375,
            324.5732421875
        ],
        "rotation": [
            0.00083505007205531,
            -0.9829051494598389,
            2.1724610328674316
        ],
        "velocity": [
            4.618097305297852,
            0.14937198162078857,
            -0.07831011712551117
        ],
        "speed": 4.620512386098818,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.670392990112305,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1584.7379150390625,
                1610.5574951171875,
                324.36627197265625
            ],
            "velocity": [
                4.295474529266357,
                0.03660941869020462,
                -0.009759140200912952
            ],
            "speed_kmh": 15.464309829676107,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1535.1492919921875,
                        "y": 1607.373046875,
                        "z": 324.56982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8477493524551392,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.183712005615234,
                "transform": {
                    "location": {
                        "x": -1577.4952392578125,
                        "y": 1606.919921875,
                        "z": 324.3406066894531
                    },
                    "rotation": {
                        "roll": 0.0027915213722735643,
                        "pitch": 0.21057471632957458,
                        "yaw": -179.4896697998047
                    }
                },
                "velocity": {
                    "x": -8.183367729187012,
                    "y": -0.07275073975324631,
                    "z": 0.018526172265410423
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972111701965332,
                "transform": {
                    "location": {
                        "x": -1619.34814453125,
                        "y": 1606.568115234375,
                        "z": 324.73553466796875
                    },
                    "rotation": {
                        "roll": 8.048192830756307e-05,
                        "pitch": 1.075515627861023,
                        "yaw": -179.51243591308594
                    }
                },
                "velocity": {
                    "x": -7.970425128936768,
                    "y": -0.06717206537723541,
                    "z": 0.14959488809108734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02288818359375,
                "transform": {
                    "location": {
                        "x": -1660.5130615234375,
                        "y": 1606.22265625,
                        "z": 325.73211669921875
                    },
                    "rotation": {
                        "roll": -0.0005493172211572528,
                        "pitch": 1.8183192014694214,
                        "yaw": -179.52691650390625
                    }
                },
                "velocity": {
                    "x": -8.018521308898926,
                    "y": -0.06809084117412567,
                    "z": 0.2557624578475952
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.234680652618408,
                "transform": {
                    "location": {
                        "x": -1642.6060791015625,
                        "y": 1610.0726318359375,
                        "z": 325.22998046875
                    },
                    "rotation": {
                        "roll": 0.000472329935291782,
                        "pitch": -1.4942609071731567,
                        "yaw": 0.4839929938316345
                    }
                },
                "velocity": {
                    "x": 5.232932090759277,
                    "y": 0.04398291930556297,
                    "z": -0.12794572114944458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9861159324645996,
                "transform": {
                    "location": {
                        "x": -1627.136962890625,
                        "y": 1610.2003173828125,
                        "z": 324.8877258300781
                    },
                    "rotation": {
                        "roll": -0.004669188987463713,
                        "pitch": -1.0339949131011963,
                        "yaw": 0.7104339003562927
                    }
                },
                "velocity": {
                    "x": 1.9856523275375366,
                    "y": 0.019657248631119728,
                    "z": -0.03814585134387016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.295641899108887,
                "transform": {
                    "location": {
                        "x": -1584.7379150390625,
                        "y": 1610.5574951171875,
                        "z": 324.36627197265625
                    },
                    "rotation": {
                        "roll": 0.0010710355127230287,
                        "pitch": -0.2123710662126541,
                        "yaw": 0.5020716786384583
                    }
                },
                "velocity": {
                    "x": 4.295474529266357,
                    "y": 0.03660941869020462,
                    "z": -0.009759140200912952
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.637670993804932,
                "transform": {
                    "location": {
                        "x": -1566.847900390625,
                        "y": 1610.700439453125,
                        "z": 324.3232421875
                    },
                    "rotation": {
                        "roll": 0.0005274196737445891,
                        "pitch": -0.00646818894892931,
                        "yaw": 0.5689617991447449
                    }
                },
                "velocity": {
                    "x": 4.637458801269531,
                    "y": 0.04436849057674408,
                    "z": -0.0003296661307103932
                },
                "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": -0.3746349811553955,
        "expert_target_speed": 5.727096206173625,
        "target_point": [
            42.68302094175506,
            -1.56505435652693
        ],
        "target_point_next": [
            89.6625865883024,
            -2.9530089423819796
        ]
    },
    "290": {
        "acceleration": [
            -0.11957168579101562,
            -0.08664518594741821,
            0.0024412572383880615
        ],
        "angular_velocity": [
            -0.017875155434012413,
            0.016561903059482574,
            -0.897455632686615
        ],
        "forward_vector": [
            0.9992932081222534,
            0.03343778848648071,
            -0.017172206193208694
        ],
        "right_vector": [
            -0.033444326370954514,
            0.9994405508041382,
            -9.360650437884033e-05
        ],
        "location": [
            -1609.2572021484375,
            1610.581787109375,
            324.55413818359375
        ],
        "rotation": [
            0.005364048294723034,
            -0.9839433431625366,
            1.9164841175079346
        ],
        "velocity": [
            4.587375164031982,
            0.127706378698349,
            -0.07643155753612518
        ],
        "speed": 4.589152407006952,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.62095832824707,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1583.636962890625,
                1610.56689453125,
                324.3629150390625
            ],
            "velocity": [
                4.676856994628906,
                0.04072718694806099,
                -0.010810508392751217
            ],
            "speed_kmh": 16.83736853760077,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1537.232177734375,
                        "y": 1607.3555908203125,
                        "z": 324.53656005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7111455798149109,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.976417541503906,
                "transform": {
                    "location": {
                        "x": -1579.52001953125,
                        "y": 1606.90185546875,
                        "z": 324.3454895019531
                    },
                    "rotation": {
                        "roll": 0.0015588364331051707,
                        "pitch": 0.1228477731347084,
                        "yaw": -179.4905242919922
                    }
                },
                "velocity": {
                    "x": -7.976080894470215,
                    "y": -0.07093172520399094,
                    "z": 0.01844855211675167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.004100799560547,
                "transform": {
                    "location": {
                        "x": -1621.344970703125,
                        "y": 1606.551513671875,
                        "z": 324.77294921875
                    },
                    "rotation": {
                        "roll": 3.885855767293833e-05,
                        "pitch": 1.0762602090835571,
                        "yaw": -179.516845703125
                    }
                },
                "velocity": {
                    "x": -8.002403259277344,
                    "y": -0.06831470131874084,
                    "z": 0.15000440180301666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024079322814941,
                "transform": {
                    "location": {
                        "x": -1662.51806640625,
                        "y": 1606.2054443359375,
                        "z": 325.7961730957031
                    },
                    "rotation": {
                        "roll": 0.0010780433658510447,
                        "pitch": 1.9067496061325073,
                        "yaw": -179.49803161621094
                    }
                },
                "velocity": {
                    "x": -8.019697189331055,
                    "y": -0.06835729628801346,
                    "z": 0.2562007009983063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8219380378723145,
                "transform": {
                    "location": {
                        "x": -1641.250244140625,
                        "y": 1610.0838623046875,
                        "z": 325.1965637207031
                    },
                    "rotation": {
                        "roll": -0.00012207020336063579,
                        "pitch": -1.4395374059677124,
                        "yaw": 0.49541041254997253
                    }
                },
                "velocity": {
                    "x": 5.820005893707275,
                    "y": 0.05119616910815239,
                    "z": -0.14097990095615387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.372215986251831,
                "transform": {
                    "location": {
                        "x": -1626.4776611328125,
                        "y": 1610.20654296875,
                        "z": 324.8751220703125
                    },
                    "rotation": {
                        "roll": -0.0010986325796693563,
                        "pitch": -0.9100338816642761,
                        "yaw": 0.646511435508728
                    }
                },
                "velocity": {
                    "x": 3.3714213371276855,
                    "y": 0.032528363168239594,
                    "z": -0.06558512896299362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.677046775817871,
                "transform": {
                    "location": {
                        "x": -1583.636962890625,
                        "y": 1610.56689453125,
                        "z": 324.3629150390625
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.11400951445102692,
                        "yaw": 0.49931395053863525
                    }
                },
                "velocity": {
                    "x": 4.676856994628906,
                    "y": 0.04072718694806099,
                    "z": -0.010810508392751217
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.680333614349365,
                "transform": {
                    "location": {
                        "x": -1565.6610107421875,
                        "y": 1610.7117919921875,
                        "z": 324.3230895996094
                    },
                    "rotation": {
                        "roll": 0.00015378421812783927,
                        "pitch": -0.0002458867966197431,
                        "yaw": 0.5557379126548767
                    }
                },
                "velocity": {
                    "x": 4.680122375488281,
                    "y": 0.044463325291872025,
                    "z": -0.0009086226928047836
                },
                "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": -0.38095319271087646,
        "expert_target_speed": 5.698139338045479,
        "target_point": [
            41.53877389695176,
            -1.3713828855587895
        ],
        "target_point_next": [
            88.52407151412885,
            -2.5494381032549303
        ]
    },
    "295": {
        "acceleration": [
            -0.11471748352050781,
            -0.08314922451972961,
            0.002958923578262329
        ],
        "angular_velocity": [
            -0.03107910044491291,
            0.003923594951629639,
            -1.1609973907470703
        ],
        "forward_vector": [
            0.9994326233863831,
            0.02895529195666313,
            -0.017205340787768364
        ],
        "right_vector": [
            -0.028962284326553345,
            0.9995805025100708,
            -0.0001573268382344395
        ],
        "location": [
            -1608.114013671875,
            1610.61181640625,
            324.53509521484375
        ],
        "rotation": [
            0.009015497751533985,
            -0.9858421087265015,
            1.6594935655593872
        ],
        "velocity": [
            4.558186054229736,
            0.10652761161327362,
            -0.07562429457902908
        ],
        "speed": 4.5594306922038506,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.648447036743164,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1582.4661865234375,
                1610.5771484375,
                324.36029052734375
            ],
            "velocity": [
                4.383688449859619,
                0.037032805383205414,
                -0.010190200991928577
            ],
            "speed_kmh": 15.781884172625666,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.951304912567139,
                "transform": {
                    "location": {
                        "x": -1539.273681640625,
                        "y": 1607.3385009765625,
                        "z": 324.5033264160156
                    },
                    "rotation": {
                        "roll": 0.0007201170665211976,
                        "pitch": -0.7340745329856873,
                        "yaw": -179.51910400390625
                    }
                },
                "velocity": {
                    "x": -6.950037002563477,
                    "y": -0.05786417797207832,
                    "z": -0.11948934942483902
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.003822326660156,
                "transform": {
                    "location": {
                        "x": -1581.50830078125,
                        "y": 1606.8843994140625,
                        "z": 324.3500061035156
                    },
                    "rotation": {
                        "roll": 0.0020795706659555435,
                        "pitch": 0.11808713525533676,
                        "yaw": -179.50096130371094
                    }
                },
                "velocity": {
                    "x": -8.003497123718262,
                    "y": -0.06966690719127655,
                    "z": 0.01845390349626541
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972352504730225,
                "transform": {
                    "location": {
                        "x": -1623.3414306640625,
                        "y": 1606.53466796875,
                        "z": 324.8103942871094
                    },
                    "rotation": {
                        "roll": 0.00040179467760026455,
                        "pitch": 1.0759186744689941,
                        "yaw": -179.51361083984375
                    }
                },
                "velocity": {
                    "x": -7.970669269561768,
                    "y": -0.0671783983707428,
                    "z": 0.14939726889133453
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023241996765137,
                "transform": {
                    "location": {
                        "x": -1664.5220947265625,
                        "y": 1606.1885986328125,
                        "z": 325.8622131347656
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": 1.910663366317749,
                        "yaw": -179.524169921875
                    }
                },
                "velocity": {
                    "x": -8.018556594848633,
                    "y": -0.06748779863119125,
                    "z": 0.2657169997692108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.973767280578613,
                "transform": {
                    "location": {
                        "x": -1639.7176513671875,
                        "y": 1610.0966796875,
                        "z": 325.15985107421875
                    },
                    "rotation": {
                        "roll": -0.0011596669210121036,
                        "pitch": -1.4860236644744873,
                        "yaw": 0.5061635375022888
                    }
                },
                "velocity": {
                    "x": 6.9715399742126465,
                    "y": 0.057744741439819336,
                    "z": -0.16650448739528656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.877976894378662,
                "transform": {
                    "location": {
                        "x": -1625.4320068359375,
                        "y": 1610.2161865234375,
                        "z": 324.85516357421875
                    },
                    "rotation": {
                        "roll": 0.0002060171973425895,
                        "pitch": -0.8493954539299011,
                        "yaw": 0.5796909928321838
                    }
                },
                "velocity": {
                    "x": 4.876920223236084,
                    "y": 0.04460341855883598,
                    "z": -0.09120208770036697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.383856773376465,
                "transform": {
                    "location": {
                        "x": -1582.4661865234375,
                        "y": 1610.5771484375,
                        "z": 324.36029052734375
                    },
                    "rotation": {
                        "roll": 0.0007971360464580357,
                        "pitch": -0.11294399946928024,
                        "yaw": 0.4966026842594147
                    }
                },
                "velocity": {
                    "x": 4.383688449859619,
                    "y": 0.037032805383205414,
                    "z": -0.010190200991928577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.483474254608154,
                "transform": {
                    "location": {
                        "x": -1564.5341796875,
                        "y": 1610.7222900390625,
                        "z": 324.3230895996094
                    },
                    "rotation": {
                        "roll": 0.0003602447686716914,
                        "pitch": -0.0101974718272686,
                        "yaw": 0.545011043548584
                    }
                },
                "velocity": {
                    "x": 4.483287334442139,
                    "y": 0.040969789028167725,
                    "z": -0.0006431865622289479
                },
                "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": -0.39790600538253784,
        "expert_target_speed": 5.667469814702215,
        "target_point": [
            40.40092854511361,
            -1.181963464397515
        ],
        "target_point_next": [
            87.39103751977775,
            -2.149261153755157
        ]
    },
    "300": {
        "acceleration": [
            -0.12110710144042969,
            -0.0834384560585022,
            0.01230582594871521
        ],
        "angular_velocity": [
            0.0015267740236595273,
            -0.41218194365501404,
            -0.8583419919013977
        ],
        "forward_vector": [
            0.9995712637901306,
            0.02454705536365509,
            -0.01596013270318508
        ],
        "right_vector": [
            -0.02455458603799343,
            0.9996984004974365,
            -0.00027608039090409875
        ],
        "location": [
            -1606.9781494140625,
            1610.6368408203125,
            324.517822265625
        ],
        "rotation": [
            0.015820255503058434,
            -0.9144871234893799,
            1.4067631959915161
        ],
        "velocity": [
            4.52619743347168,
            0.08567123115062714,
            -0.06371662765741348
        ],
        "speed": 4.52700814739851,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.575008392333984,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1581.4036865234375,
                1610.586181640625,
                324.3586120605469
            ],
            "velocity": [
                4.313788414001465,
                0.03714051842689514,
                -0.009255819022655487
            ],
            "speed_kmh": 15.530249610844063,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.6267290115356445,
                "transform": {
                    "location": {
                        "x": -1540.9561767578125,
                        "y": 1607.3155517578125,
                        "z": 324.4779052734375
                    },
                    "rotation": {
                        "roll": -0.0069580078125,
                        "pitch": -0.7531375885009766,
                        "yaw": -179.175537109375
                    }
                },
                "velocity": {
                    "x": -6.625113487243652,
                    "y": -0.11508571356534958,
                    "z": -0.09034500271081924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.069690704345703,
                "transform": {
                    "location": {
                        "x": -1583.5242919921875,
                        "y": 1606.86669921875,
                        "z": 324.3544006347656
                    },
                    "rotation": {
                        "roll": 0.0020664213225245476,
                        "pitch": 0.15639765560626984,
                        "yaw": -179.50828552246094
                    }
                },
                "velocity": {
                    "x": -8.06937313079834,
                    "y": -0.06913664937019348,
                    "z": 0.018359355628490448
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00426197052002,
                "transform": {
                    "location": {
                        "x": -1625.3382568359375,
                        "y": 1606.51806640625,
                        "z": 324.84783935546875
                    },
                    "rotation": {
                        "roll": 6.355647201417014e-05,
                        "pitch": 1.0758230686187744,
                        "yaw": -179.51608276367188
                    }
                },
                "velocity": {
                    "x": -8.00256633758545,
                    "y": -0.06770306080579758,
                    "z": 0.15016776323318481
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021773338317871,
                "transform": {
                    "location": {
                        "x": -1666.5264892578125,
                        "y": 1606.171875,
                        "z": 325.92974853515625
                    },
                    "rotation": {
                        "roll": 0.0010028996039181948,
                        "pitch": 1.961637020111084,
                        "yaw": -179.50448608398438
                    }
                },
                "velocity": {
                    "x": -8.016797065734863,
                    "y": -0.06741490960121155,
                    "z": 0.274344265460968
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9816131591796875,
                "transform": {
                    "location": {
                        "x": -1637.91015625,
                        "y": 1610.11181640625,
                        "z": 325.1175842285156
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -1.3372485637664795,
                        "yaw": 0.5068525671958923
                    }
                },
                "velocity": {
                    "x": 6.979604721069336,
                    "y": 0.05977316573262215,
                    "z": -0.156415656208992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.651891231536865,
                "transform": {
                    "location": {
                        "x": -1624.0970458984375,
                        "y": 1610.2281494140625,
                        "z": 324.830322265625
                    },
                    "rotation": {
                        "roll": 0.0007958866190165281,
                        "pitch": -0.9453732371330261,
                        "yaw": 0.522754967212677
                    }
                },
                "velocity": {
                    "x": 5.650681018829346,
                    "y": 0.04975628852844238,
                    "z": -0.10583000630140305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.313958168029785,
                "transform": {
                    "location": {
                        "x": -1581.4036865234375,
                        "y": 1610.586181640625,
                        "z": 324.3586120605469
                    },
                    "rotation": {
                        "roll": 0.00016944087110459805,
                        "pitch": -0.20693422853946686,
                        "yaw": 0.4939713180065155
                    }
                },
                "velocity": {
                    "x": 4.313788414001465,
                    "y": 0.03714051842689514,
                    "z": -0.009255819022655487
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.674203395843506,
                "transform": {
                    "location": {
                        "x": -1563.380859375,
                        "y": 1610.73291015625,
                        "z": 324.322998046875
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.006140339653939009,
                        "yaw": 0.529266893863678
                    }
                },
                "velocity": {
                    "x": 4.674003601074219,
                    "y": 0.042802561074495316,
                    "z": 0.005795306991785765
                },
                "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": -0.3916984796524048,
        "expert_target_speed": 5.6344316918415664,
        "target_point": [
            39.26961285190105,
            -1.0008759914927992
        ],
        "target_point_next": [
            86.26353140857881,
            -1.7608924117000164
        ]
    },
    "305": {
        "acceleration": [
            -0.11038780212402344,
            -0.07868692278862,
            0.007790476083755493
        ],
        "angular_velocity": [
            -0.059588056057691574,
            -0.39319270849227905,
            -1.1748827695846558
        ],
        "forward_vector": [
            0.9996973872184753,
            0.02011183276772499,
            -0.014162781648337841
        ],
        "right_vector": [
            -0.0201185941696167,
            0.999797523021698,
            -0.00033511058427393436
        ],
        "location": [
            -1605.849365234375,
            1610.656494140625,
            324.50152587890625
        ],
        "rotation": [
            0.019202347844839096,
            -0.8114947080612183,
            1.1525163650512695
        ],
        "velocity": [
            4.497795104980469,
            0.06537915766239166,
            -0.06311322748661041
        ],
        "speed": 4.498270249845257,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.597415924072266,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1580.25244140625,
                1610.595947265625,
                324.3548278808594
            ],
            "velocity": [
                4.67611837387085,
                0.04007367044687271,
                -0.010733108036220074
            ],
            "speed_kmh": 16.834688643417316,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.86815881729126,
                "transform": {
                    "location": {
                        "x": -1542.644287109375,
                        "y": 1607.2869873046875,
                        "z": 324.4560546875
                    },
                    "rotation": {
                        "roll": -0.004272461403161287,
                        "pitch": -0.722688615322113,
                        "yaw": -179.00132751464844
                    }
                },
                "velocity": {
                    "x": -6.866623878479004,
                    "y": -0.12400427460670471,
                    "z": -0.0755133405327797
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.999569416046143,
                "transform": {
                    "location": {
                        "x": -1585.53076171875,
                        "y": 1606.849853515625,
                        "z": 324.3590393066406
                    },
                    "rotation": {
                        "roll": 0.0032032644376158714,
                        "pitch": 0.119029700756073,
                        "yaw": -179.5190887451172
                    }
                },
                "velocity": {
                    "x": -7.999277114868164,
                    "y": -0.06597762554883957,
                    "z": 0.018085813149809837
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.971019268035889,
                "transform": {
                    "location": {
                        "x": -1627.3345947265625,
                        "y": 1606.5015869140625,
                        "z": 324.8860168457031
                    },
                    "rotation": {
                        "roll": 0.00011872471077367663,
                        "pitch": 1.1094685792922974,
                        "yaw": -179.51490783691406
                    }
                },
                "velocity": {
                    "x": -7.9692206382751465,
                    "y": -0.06727930158376694,
                    "z": 0.1553754210472107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021843910217285,
                "transform": {
                    "location": {
                        "x": -1668.53125,
                        "y": 1606.1552734375,
                        "z": 325.9983825683594
                    },
                    "rotation": {
                        "roll": -0.0004577638756018132,
                        "pitch": 2.0412087440490723,
                        "yaw": -179.53199768066406
                    }
                },
                "velocity": {
                    "x": -8.016688346862793,
                    "y": -0.06651264429092407,
                    "z": 0.279752641916275
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.725830554962158,
                "transform": {
                    "location": {
                        "x": -1636.3243408203125,
                        "y": 1610.12548828125,
                        "z": 325.0804748535156
                    },
                    "rotation": {
                        "roll": 0.00022488177637569606,
                        "pitch": -1.1461125612258911,
                        "yaw": 0.46077975630760193
                    }
                },
                "velocity": {
                    "x": 5.724222183227539,
                    "y": 0.04911533743143082,
                    "z": -0.1265030950307846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.906617641448975,
                "transform": {
                    "location": {
                        "x": -1622.54248046875,
                        "y": 1610.2410888671875,
                        "z": 324.8011779785156
                    },
                    "rotation": {
                        "roll": -0.001068114535883069,
                        "pitch": -0.9152452945709229,
                        "yaw": 0.538073718547821
                    }
                },
                "velocity": {
                    "x": 6.905126571655273,
                    "y": 0.06031732261180878,
                    "z": -0.13021144270896912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.676302433013916,
                "transform": {
                    "location": {
                        "x": -1580.25244140625,
                        "y": 1610.595947265625,
                        "z": 324.3548278808594
                    },
                    "rotation": {
                        "roll": 0.0003014234243892133,
                        "pitch": -0.04040739685297012,
                        "yaw": 0.4921260476112366
                    }
                },
                "velocity": {
                    "x": 4.67611837387085,
                    "y": 0.04007367044687271,
                    "z": -0.010733108036220074
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.335761547088623,
                "transform": {
                    "location": {
                        "x": -1562.243896484375,
                        "y": 1610.7432861328125,
                        "z": 324.3253173828125
                    },
                    "rotation": {
                        "roll": 0.0003980488982051611,
                        "pitch": 0.09275396168231964,
                        "yaw": 0.5222498774528503
                    }
                },
                "velocity": {
                    "x": 4.335566997528076,
                    "y": 0.0386270172894001,
                    "z": 0.013963250443339348
                },
                "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": -0.39810022711753845,
        "expert_target_speed": 5.6085188459832205,
        "target_point": [
            38.14471641786511,
            -0.823555077165058
        ],
        "target_point_next": [
            85.14154481947561,
            -1.3750316951869186
        ]
    },
    "310": {
        "acceleration": [
            -0.10268211364746094,
            -0.06095871329307556,
            0.04541464149951935
        ],
        "angular_velocity": [
            0.012476594187319279,
            -0.061058226972818375,
            -0.7823175191879272
        ],
        "forward_vector": [
            0.999793529510498,
            0.015782997012138367,
            -0.012798793613910675
        ],
        "right_vector": [
            -0.015789378434419632,
            0.9998753070831299,
            -0.00039774423930794
        ],
        "location": [
            -1604.7274169921875,
            1610.6712646484375,
            324.48565673828125
        ],
        "rotation": [
            0.022790933027863503,
            -0.733336865901947,
            0.904410719871521
        ],
        "velocity": [
            4.471333980560303,
            0.046338073909282684,
            -0.05748845264315605
        ],
        "speed": 4.471574083340996,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.668764114379883,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1579.05908203125,
                1610.6060791015625,
                324.3521728515625
            ],
            "velocity": [
                5.056024551391602,
                0.04292990267276764,
                -0.008335304446518421
            ],
            "speed_kmh": 18.20236922674666,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.647026538848877,
                "transform": {
                    "location": {
                        "x": -1544.3331298828125,
                        "y": 1607.2567138671875,
                        "z": 324.43798828125
                    },
                    "rotation": {
                        "roll": -0.006134033668786287,
                        "pitch": -0.5615234971046448,
                        "yaw": -178.9505157470703
                    }
                },
                "velocity": {
                    "x": -6.645576000213623,
                    "y": -0.12255298346281052,
                    "z": -0.06527985632419586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030303955078125,
                "transform": {
                    "location": {
                        "x": -1587.533203125,
                        "y": 1606.8331298828125,
                        "z": 324.36346435546875
                    },
                    "rotation": {
                        "roll": 0.0007647336460649967,
                        "pitch": 0.13674038648605347,
                        "yaw": -179.52691650390625
                    }
                },
                "velocity": {
                    "x": -8.030000686645508,
                    "y": -0.06725356727838516,
                    "z": 0.01854243315756321
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002288818359375,
                "transform": {
                    "location": {
                        "x": -1629.3310546875,
                        "y": 1606.484619140625,
                        "z": 324.9248046875
                    },
                    "rotation": {
                        "roll": 0.0003539736499078572,
                        "pitch": 1.1455045938491821,
                        "yaw": -179.51162719726562
                    }
                },
                "velocity": {
                    "x": -8.00041675567627,
                    "y": -0.06893294304609299,
                    "z": 0.15875209867954254
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.022730827331543,
                "transform": {
                    "location": {
                        "x": -1670.53515625,
                        "y": 1606.138671875,
                        "z": 326.069091796875
                    },
                    "rotation": {
                        "roll": -0.0001525875268271193,
                        "pitch": 2.036632537841797,
                        "yaw": -179.51397705078125
                    }
                },
                "velocity": {
                    "x": -8.017468452453613,
                    "y": -0.0673336610198021,
                    "z": 0.28262779116630554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.58935022354126,
                "transform": {
                    "location": {
                        "x": -1635.01123046875,
                        "y": 1610.136474609375,
                        "z": 325.05145263671875
                    },
                    "rotation": {
                        "roll": -0.00024414034851361066,
                        "pitch": -1.1435853242874146,
                        "yaw": 0.4875280559062958
                    }
                },
                "velocity": {
                    "x": 4.588019847869873,
                    "y": 0.038616448640823364,
                    "z": -0.10351976752281189
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.908055305480957,
                "transform": {
                    "location": {
                        "x": -1620.6082763671875,
                        "y": 1610.258056640625,
                        "z": 324.7648620605469
                    },
                    "rotation": {
                        "roll": -0.0007934564491733909,
                        "pitch": -0.922089159488678,
                        "yaw": 0.5301085114479065
                    }
                },
                "velocity": {
                    "x": 7.9063591957092285,
                    "y": 0.06899184733629227,
                    "z": -0.14853917062282562
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.056213855743408,
                "transform": {
                    "location": {
                        "x": -1579.05908203125,
                        "y": 1610.6060791015625,
                        "z": 324.3521728515625
                    },
                    "rotation": {
                        "roll": 0.0001612462947377935,
                        "pitch": -0.05498984828591347,
                        "yaw": 0.4872422516345978
                    }
                },
                "velocity": {
                    "x": 5.056024551391602,
                    "y": 0.04292990267276764,
                    "z": -0.008335304446518421
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.660290718078613,
                "transform": {
                    "location": {
                        "x": -1561.1346435546875,
                        "y": 1610.7530517578125,
                        "z": 324.32745361328125
                    },
                    "rotation": {
                        "roll": 0.0002503625291865319,
                        "pitch": 0.20585505664348602,
                        "yaw": 0.5149335265159607
                    }
                },
                "velocity": {
                    "x": 4.660092830657959,
                    "y": 0.04096202179789543,
                    "z": 0.012869653292000294
                },
                "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": -0.3980201184749603,
        "expert_target_speed": 5.584966976153568,
        "target_point": [
            37.02588338533632,
            -0.655430225515494
        ],
        "target_point_next": [
            84.0246592010531,
            -1.003393003186252
        ]
    },
    "315": {
        "acceleration": [
            -0.06547927856445312,
            -0.07268108427524567,
            -0.006056874990463257
        ],
        "angular_velocity": [
            -0.018722157925367355,
            0.023065587505698204,
            -1.1409049034118652
        ],
        "forward_vector": [
            0.9998501539230347,
            0.011592721566557884,
            -0.012855770997703075
        ],
        "right_vector": [
            -0.0115992221981287,
            0.999932587146759,
            -0.0004312653618399054
        ],
        "location": [
            -1603.6129150390625,
            1610.6812744140625,
            324.4718933105469
        ],
        "rotation": [
            0.02471172623336315,
            -0.736601710319519,
            0.6642837524414062
        ],
        "velocity": [
            4.449739933013916,
            0.027894873172044754,
            -0.055606987327337265
        ],
        "speed": 4.449827366921999,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.840702056884766,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1577.7725830078125,
                1610.6168212890625,
                324.349609375
            ],
            "velocity": [
                5.29524564743042,
                0.04473939910531044,
                -0.011662902310490608
            ],
            "speed_kmh": 19.06361095869941,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.715241432189941,
                "transform": {
                    "location": {
                        "x": -1546.1282958984375,
                        "y": 1607.2244873046875,
                        "z": 324.4202575683594
                    },
                    "rotation": {
                        "roll": -0.003448485629633069,
                        "pitch": -0.4542827010154724,
                        "yaw": -178.9853515625
                    }
                },
                "velocity": {
                    "x": -7.714028358459473,
                    "y": -0.12052710354328156,
                    "z": -0.06475137919187546
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038955688476562,
                "transform": {
                    "location": {
                        "x": -1589.5443115234375,
                        "y": 1606.8165283203125,
                        "z": 324.36871337890625
                    },
                    "rotation": {
                        "roll": 0.0004828854580409825,
                        "pitch": 0.16927939653396606,
                        "yaw": -179.52598571777344
                    }
                },
                "velocity": {
                    "x": -8.038633346557617,
                    "y": -0.06648729741573334,
                    "z": 0.027485447004437447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.969830513000488,
                "transform": {
                    "location": {
                        "x": -1631.3270263671875,
                        "y": 1606.4678955078125,
                        "z": 324.9646301269531
                    },
                    "rotation": {
                        "roll": -0.0007629396277479827,
                        "pitch": 1.1410582065582275,
                        "yaw": -179.51504516601562
                    }
                },
                "velocity": {
                    "x": -7.967946529388428,
                    "y": -0.06700342148542404,
                    "z": 0.15981151163578033
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021206855773926,
                "transform": {
                    "location": {
                        "x": -1672.539306640625,
                        "y": 1606.1219482421875,
                        "z": 326.1405334472656
                    },
                    "rotation": {
                        "roll": -0.0001831054105423391,
                        "pitch": 2.06917142868042,
                        "yaw": -179.54039001464844
                    }
                },
                "velocity": {
                    "x": -8.015837669372559,
                    "y": -0.06613946706056595,
                    "z": 0.2858887314796448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0777907371521,
                "transform": {
                    "location": {
                        "x": -1633.8372802734375,
                        "y": 1610.1463623046875,
                        "z": 325.02679443359375
                    },
                    "rotation": {
                        "roll": -0.000579834682866931,
                        "pitch": -1.258817434310913,
                        "yaw": 0.4837902784347534
                    }
                },
                "velocity": {
                    "x": 5.076647758483887,
                    "y": 0.041102614253759384,
                    "z": -0.09958645701408386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.928886890411377,
                "transform": {
                    "location": {
                        "x": -1618.751708984375,
                        "y": 1610.27392578125,
                        "z": 324.729736328125
                    },
                    "rotation": {
                        "roll": 0.0012151352129876614,
                        "pitch": -1.1604900360107422,
                        "yaw": 0.46406233310699463
                    }
                },
                "velocity": {
                    "x": 6.927433490753174,
                    "y": 0.05749399587512016,
                    "z": -0.1297430545091629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.29544734954834,
                "transform": {
                    "location": {
                        "x": -1577.7725830078125,
                        "y": 1610.6168212890625,
                        "z": 324.349609375
                    },
                    "rotation": {
                        "roll": 0.0004449684638530016,
                        "pitch": -0.06177222728729248,
                        "yaw": 0.484653502702713
                    }
                },
                "velocity": {
                    "x": 5.29524564743042,
                    "y": 0.04473939910531044,
                    "z": -0.011662902310490608
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.438981533050537,
                "transform": {
                    "location": {
                        "x": -1559.992919921875,
                        "y": 1610.763427734375,
                        "z": 324.3306884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2573956549167633,
                        "yaw": 0.5113624334335327
                    }
                },
                "velocity": {
                    "x": 4.438764572143555,
                    "y": 0.03950841724872589,
                    "z": 0.019153308123350143
                },
                "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": -0.39142781496047974,
        "expert_target_speed": 5.566242588528342,
        "target_point": [
            35.91376197800731,
            -0.49734020983572214
        ],
        "target_point_next": [
            82.91358333569802,
            -0.6483323149560949
        ]
    },
    "320": {
        "acceleration": [
            -0.2033710479736328,
            -2.890458345413208,
            -2.078915596008301
        ],
        "angular_velocity": [
            -6.922053813934326,
            -3.168043851852417,
            -4.816542625427246
        ],
        "forward_vector": [
            0.9999804496765137,
            0.006053246092051268,
            0.0015721312956884503
        ],
        "right_vector": [
            -0.00600151252001524,
            0.9994996786117554,
            -0.03105480596423149
        ],
        "location": [
            -1602.496337890625,
            1610.6829833984375,
            324.4767761230469
        ],
        "rotation": [
            1.7795976400375366,
            0.09007652848958969,
            0.34682798385620117
        ],
        "velocity": [
            4.425267219543457,
            0.006178998854011297,
            0.040010202676057816
        ],
        "speed": 4.425271533408172,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.13295555114746,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1576.36376953125,
                1610.62890625,
                324.345458984375
            ],
            "velocity": [
                6.393454551696777,
                0.05371994897723198,
                -0.014941005036234856
            ],
            "speed_kmh": 23.017311689644767,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.42696475982666,
                "transform": {
                    "location": {
                        "x": -1548.1937255859375,
                        "y": 1607.1932373046875,
                        "z": 324.4031066894531
                    },
                    "rotation": {
                        "roll": -0.0014343266375362873,
                        "pitch": -0.4696642756462097,
                        "yaw": -179.1681671142578
                    }
                },
                "velocity": {
                    "x": -8.425888061523438,
                    "y": -0.11407186836004257,
                    "z": -0.07160808145999908
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007922172546387,
                "transform": {
                    "location": {
                        "x": -1591.54931640625,
                        "y": 1606.7999267578125,
                        "z": 324.37554931640625
                    },
                    "rotation": {
                        "roll": 0.00013725603639613837,
                        "pitch": 0.250066876411438,
                        "yaw": -179.52603149414062
                    }
                },
                "velocity": {
                    "x": -8.007589340209961,
                    "y": -0.06623370200395584,
                    "z": 0.030623339116573334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000344276428223,
                "transform": {
                    "location": {
                        "x": -1633.3233642578125,
                        "y": 1606.450927734375,
                        "z": 325.0061950683594
                    },
                    "rotation": {
                        "roll": 0.0003859388525597751,
                        "pitch": 1.2222349643707275,
                        "yaw": -179.5107421875
                    }
                },
                "velocity": {
                    "x": -7.998201847076416,
                    "y": -0.0688151940703392,
                    "z": 0.1718725562095642
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1674.5889892578125,
                        "y": 1606.1693115234375,
                        "z": 326.21405029296875
                    },
                    "rotation": {
                        "roll": -8.343102320118589e-10,
                        "pitch": 2.0747790336608887,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.484147071838379,
                "transform": {
                    "location": {
                        "x": -1632.5206298828125,
                        "y": 1610.1571044921875,
                        "z": 325.00006103515625
                    },
                    "rotation": {
                        "roll": -0.00039672874845564365,
                        "pitch": -1.226346731185913,
                        "yaw": 0.47742214798927307
                    }
                },
                "velocity": {
                    "x": 5.482822895050049,
                    "y": 0.04431372880935669,
                    "z": -0.1120586171746254
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5298304557800293,
                "transform": {
                    "location": {
                        "x": -1617.3187255859375,
                        "y": 1610.2860107421875,
                        "z": 324.70220947265625
                    },
                    "rotation": {
                        "roll": -0.002929686801508069,
                        "pitch": -1.4999094009399414,
                        "yaw": 0.6683657765388489
                    }
                },
                "velocity": {
                    "x": 3.5290403366088867,
                    "y": 0.02709435671567917,
                    "z": -0.06958819925785065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.393698215484619,
                "transform": {
                    "location": {
                        "x": -1576.36376953125,
                        "y": 1610.62890625,
                        "z": 324.345458984375
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.052537813782691956,
                        "yaw": 0.481474369764328
                    }
                },
                "velocity": {
                    "x": 6.393454551696777,
                    "y": 0.05371994897723198,
                    "z": -0.014941005036234856
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.431628227233887,
                "transform": {
                    "location": {
                        "x": -1558.898681640625,
                        "y": 1610.7730712890625,
                        "z": 324.335693359375
                    },
                    "rotation": {
                        "roll": 9.594827133696526e-05,
                        "pitch": 0.2451491355895996,
                        "yaw": 0.5075246691703796
                    }
                },
                "velocity": {
                    "x": 4.431410312652588,
                    "y": 0.03912698104977608,
                    "z": 0.02001817710697651
                },
                "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": -0.35289108753204346,
        "expert_target_speed": 5.5497690419826915,
        "target_point": [
            34.799399285438426,
            -0.2932952572461883
        ],
        "target_point_next": [
            81.79933580738958,
            -0.1838731241640359
        ]
    },
    "325": {
        "acceleration": [
            0.6110000610351562,
            -0.7322245836257935,
            -0.14704972505569458
        ],
        "angular_velocity": [
            5.309640407562256,
            2.401728868484497,
            -6.656017780303955
        ],
        "forward_vector": [
            0.9998083710670471,
            -0.019277852028608322,
            -0.003394000930711627
        ],
        "right_vector": [
            0.019211072474718094,
            0.9996402859687805,
            -0.01871727779507637
        ],
        "location": [
            -1601.379150390625,
            1610.650634765625,
            324.4574890136719
        ],
        "rotation": [
            1.072489857673645,
            -0.19446229934692383,
            -1.1046143770217896
        ],
        "velocity": [
            4.540778636932373,
            -0.3115256726741791,
            -0.13010387122631073
        ],
        "speed": 4.551452391748871,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.787002563476562,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1574.5924072265625,
                1610.6439208984375,
                324.3399658203125
            ],
            "velocity": [
                7.673617839813232,
                0.06519659608602524,
                -0.01674431748688221
            ],
            "speed_kmh": 27.62608703180252,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.962353229522705,
                "transform": {
                    "location": {
                        "x": -1550.23876953125,
                        "y": 1607.165771484375,
                        "z": 324.3858947753906
                    },
                    "rotation": {
                        "roll": -0.001678466796875,
                        "pitch": -0.49960097670555115,
                        "yaw": -179.26766967773438
                    }
                },
                "velocity": {
                    "x": -7.961430549621582,
                    "y": -0.09981415420770645,
                    "z": -0.06876730173826218
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042125701904297,
                "transform": {
                    "location": {
                        "x": -1593.5560302734375,
                        "y": 1606.783447265625,
                        "z": 324.38421630859375
                    },
                    "rotation": {
                        "roll": -0.00024414045037701726,
                        "pitch": 0.26368626952171326,
                        "yaw": -179.52598571777344
                    }
                },
                "velocity": {
                    "x": -8.041769027709961,
                    "y": -0.06650198996067047,
                    "z": 0.03620104864239693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9677534103393555,
                "transform": {
                    "location": {
                        "x": -1635.3189697265625,
                        "y": 1606.43408203125,
                        "z": 325.04888916015625
                    },
                    "rotation": {
                        "roll": 0.00040053241536952555,
                        "pitch": 1.278160572052002,
                        "yaw": -179.51177978515625
                    }
                },
                "velocity": {
                    "x": -7.965515613555908,
                    "y": -0.06767626106739044,
                    "z": 0.17628011107444763
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1676.67041015625,
                        "y": 1606.1766357421875,
                        "z": 326.28912353515625
                    },
                    "rotation": {
                        "roll": 8.343034596514087e-10,
                        "pitch": 2.0618836879730225,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.163679122924805,
                "transform": {
                    "location": {
                        "x": -1631.0758056640625,
                        "y": 1610.1695556640625,
                        "z": 324.97003173828125
                    },
                    "rotation": {
                        "roll": 0.0003018442075699568,
                        "pitch": -1.1758716106414795,
                        "yaw": 0.4452071189880371
                    }
                },
                "velocity": {
                    "x": 6.162201881408691,
                    "y": 0.05154317617416382,
                    "z": -0.12470628321170807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.40078043937683105,
                "transform": {
                    "location": {
                        "x": -1617.0955810546875,
                        "y": 1610.2877197265625,
                        "z": 324.6978759765625
                    },
                    "rotation": {
                        "roll": -0.009674072265625,
                        "pitch": -1.5813252925872803,
                        "yaw": 0.7442490458488464
                    }
                },
                "velocity": {
                    "x": 0.40070632100105286,
                    "y": 0.003702587680891156,
                    "z": -0.006760244257748127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.67391300201416,
                "transform": {
                    "location": {
                        "x": -1574.5924072265625,
                        "y": 1610.6439208984375,
                        "z": 324.3399658203125
                    },
                    "rotation": {
                        "roll": -0.00018310535233467817,
                        "pitch": 0.22750675678253174,
                        "yaw": 0.47401148080825806
                    }
                },
                "velocity": {
                    "x": 7.673617839813232,
                    "y": 0.06519659608602524,
                    "z": -0.01674431748688221
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.409635543823242,
                "transform": {
                    "location": {
                        "x": -1557.7962646484375,
                        "y": 1610.782958984375,
                        "z": 324.34051513671875
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.24400167167186737,
                        "yaw": 0.5041494965553284
                    }
                },
                "velocity": {
                    "x": 4.409431457519531,
                    "y": 0.03800710663199425,
                    "z": 0.01889185793697834
                },
                "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": -0.24518634378910065,
        "expert_target_speed": 5.686201050679708,
        "target_point": [
            33.67805951180088,
            0.599064111499907
        ],
        "target_point_next": [
            80.66014449916639,
            1.8989473795714995
        ]
    },
    "330": {
        "acceleration": [
            0.3898334503173828,
            0.008577704429626465,
            0.739001989364624
        ],
        "angular_velocity": [
            -1.0522005558013916,
            1.6868730783462524,
            -6.060206413269043
        ],
        "forward_vector": [
            0.998903751373291,
            -0.04600732401013374,
            -0.008637678809463978
        ],
        "right_vector": [
            0.04590864107012749,
            0.9988817572593689,
            -0.01129515003412962
        ],
        "location": [
            -1600.232177734375,
            1610.5777587890625,
            324.4383850097656
        ],
        "rotation": [
            0.6472023725509644,
            -0.4949086606502533,
            -2.637054681777954
        ],
        "velocity": [
            4.6532158851623535,
            -0.35166090726852417,
            -0.03403783217072487
        ],
        "speed": 4.666485129905396,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.48345184326172,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1572.7490234375,
                1610.6590576171875,
                324.33990478515625
            ],
            "velocity": [
                5.83812952041626,
                0.04887615889310837,
                -0.013318833895027637
            ],
            "speed_kmh": 21.018057485731344,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.025714874267578,
                "transform": {
                    "location": {
                        "x": -1552.220703125,
                        "y": 1607.142333984375,
                        "z": 324.3699035644531
                    },
                    "rotation": {
                        "roll": -0.0001831055269576609,
                        "pitch": -0.43493276834487915,
                        "yaw": -179.34605407714844
                    }
                },
                "velocity": {
                    "x": -8.025115966796875,
                    "y": -0.08606217056512833,
                    "z": -0.04697965830564499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011335372924805,
                "transform": {
                    "location": {
                        "x": -1595.563720703125,
                        "y": 1606.7667236328125,
                        "z": 324.3955078125
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.36260107159614563,
                        "yaw": -179.51856994628906
                    }
                },
                "velocity": {
                    "x": -8.010863304138184,
                    "y": -0.0673394650220871,
                    "z": 0.05505714192986488
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.999301910400391,
                "transform": {
                    "location": {
                        "x": -1637.3143310546875,
                        "y": 1606.4173583984375,
                        "z": 325.0934143066406
                    },
                    "rotation": {
                        "roll": 0.0003803472500294447,
                        "pitch": 1.274451732635498,
                        "yaw": -179.51516723632812
                    }
                },
                "velocity": {
                    "x": -7.996908187866211,
                    "y": -0.06769469380378723,
                    "z": 0.18359224498271942
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6007,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1678.7518310546875,
                        "y": 1606.1649169921875,
                        "z": 326.36419677734375
                    },
                    "rotation": {
                        "roll": 8.343034596514087e-10,
                        "pitch": 2.0618836879730225,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.65454626083374,
                "transform": {
                    "location": {
                        "x": -1629.2767333984375,
                        "y": 1610.18408203125,
                        "z": 324.93505859375
                    },
                    "rotation": {
                        "roll": 0.0006933557451702654,
                        "pitch": -1.263885498046875,
                        "yaw": 0.45959562063217163
                    }
                },
                "velocity": {
                    "x": 7.652782917022705,
                    "y": 0.06365859508514404,
                    "z": -0.15146483480930328
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4778586626052856,
                "transform": {
                    "location": {
                        "x": -1616.837158203125,
                        "y": 1610.290283203125,
                        "z": 324.69378662109375
                    },
                    "rotation": {
                        "roll": -0.004577635321766138,
                        "pitch": -1.0679887533187866,
                        "yaw": 0.6849313974380493
                    }
                },
                "velocity": {
                    "x": 1.4775134325027466,
                    "y": 0.016110828146338463,
                    "z": -0.027581753209233284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.838349342346191,
                "transform": {
                    "location": {
                        "x": -1572.7490234375,
                        "y": 1610.6590576171875,
                        "z": 324.33990478515625
                    },
                    "rotation": {
                        "roll": -0.0010681154672056437,
                        "pitch": -0.2659948766231537,
                        "yaw": 0.5239075422286987
                    }
                },
                "velocity": {
                    "x": 5.83812952041626,
                    "y": 0.04887615889310837,
                    "z": -0.013318833895027637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.7696638107299805,
                "transform": {
                    "location": {
                        "x": -1556.652587890625,
                        "y": 1610.79296875,
                        "z": 324.34521484375
                    },
                    "rotation": {
                        "roll": 0.0001022813594317995,
                        "pitch": 0.25458163022994995,
                        "yaw": 0.4986010193824768
                    }
                },
                "velocity": {
                    "x": 4.769440650939941,
                    "y": 0.04141664877533913,
                    "z": 0.020357074216008186
                },
                "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": -0.1039542406797409,
        "expert_target_speed": 5.793353729288002,
        "target_point": [
            32.50088275282626,
            1.5195247662103608
        ],
        "target_point_next": [
            79.4314018380472,
            4.07537778670283
        ]
    },
    "335": {
        "acceleration": [
            0.646820068359375,
            -1.2257039546966553,
            0.026234760880470276
        ],
        "angular_velocity": [
            0.13177551329135895,
            -0.07653782516717911,
            -4.453106880187988
        ],
        "forward_vector": [
            0.9977433085441589,
            -0.06640966981649399,
            -0.009903626516461372
        ],
        "right_vector": [
            0.06631746888160706,
            0.9977546334266663,
            -0.0093645378947258
        ],
        "location": [
            -1599.0479736328125,
            1610.484130859375,
            324.4273376464844
        ],
        "rotation": [
            0.5365826487541199,
            -0.5674452781677246,
            -3.8079833984375
        ],
        "velocity": [
            4.8189191818237305,
            -0.4382522404193878,
            -0.04651043191552162
        ],
        "speed": 4.838806372152259,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.19593048095703,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1571.852783203125,
                1610.66650390625,
                324.3440246582031
            ],
            "velocity": [
                3.2898170948028564,
                0.027407659217715263,
                -0.0019771575462073088
            ],
            "speed_kmh": 11.84375467561953,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.16858196258545,
                "transform": {
                    "location": {
                        "x": -1554.2603759765625,
                        "y": 1607.1207275390625,
                        "z": 324.3570251464844
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.23605132102966309,
                        "yaw": -179.41319274902344
                    }
                },
                "velocity": {
                    "x": -8.168048858642578,
                    "y": -0.08178441226482391,
                    "z": -0.04498899355530739
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030648231506348,
                "transform": {
                    "location": {
                        "x": -1597.5703125,
                        "y": 1606.7501220703125,
                        "z": 324.4095153808594
                    },
                    "rotation": {
                        "roll": -0.000366210617357865,
                        "pitch": 0.513104259967804,
                        "yaw": -179.518310546875
                    }
                },
                "velocity": {
                    "x": -8.030088424682617,
                    "y": -0.06752604991197586,
                    "z": 0.06651227921247482
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.965662956237793,
                "transform": {
                    "location": {
                        "x": -1639.309814453125,
                        "y": 1606.4007568359375,
                        "z": 325.1395568847656
                    },
                    "rotation": {
                        "roll": -0.0002441412943881005,
                        "pitch": 1.3640228509902954,
                        "yaw": -179.51637268066406
                    }
                },
                "velocity": {
                    "x": -7.963157653808594,
                    "y": -0.06729341298341751,
                    "z": 0.18809260427951813
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8036112785339355,
                "transform": {
                    "location": {
                        "x": -1627.449462890625,
                        "y": 1610.19921875,
                        "z": 324.89788818359375
                    },
                    "rotation": {
                        "roll": 0.0001422999193891883,
                        "pitch": -1.0625314712524414,
                        "yaw": 0.4740023910999298
                    }
                },
                "velocity": {
                    "x": 6.802140235900879,
                    "y": 0.05792541429400444,
                    "z": -0.12905508279800415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5542232990264893,
                "transform": {
                    "location": {
                        "x": -1616.3333740234375,
                        "y": 1610.294921875,
                        "z": 324.68450927734375
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": -0.9483922123908997,
                        "yaw": 0.6545558571815491
                    }
                },
                "velocity": {
                    "x": 2.5536561012268066,
                    "y": 0.023754557594656944,
                    "z": -0.048301417380571365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2899320125579834,
                "transform": {
                    "location": {
                        "x": -1571.852783203125,
                        "y": 1610.66650390625,
                        "z": 324.3440246582031
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.9704810380935669,
                        "yaw": 0.5179000496864319
                    }
                },
                "velocity": {
                    "x": 3.2898170948028564,
                    "y": 0.027407659217715263,
                    "z": -0.0019771575462073088
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.6318182945251465,
                "transform": {
                    "location": {
                        "x": -1555.450927734375,
                        "y": 1610.80322265625,
                        "z": 324.3504333496094
                    },
                    "rotation": {
                        "roll": -0.00024414050858467817,
                        "pitch": 0.24411094188690186,
                        "yaw": 0.4933120310306549
                    }
                },
                "velocity": {
                    "x": 4.631603717803955,
                    "y": 0.039702754467725754,
                    "z": 0.020257042720913887
                },
                "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": 0.04065893590450287,
        "expert_target_speed": 5.947418449893519,
        "target_point": [
            31.275236311604004,
            2.1981449337051395
        ],
        "target_point_next": [
            78.14372589726565,
            5.712499814671456
        ]
    },
    "340": {
        "acceleration": [
            0.3212451934814453,
            0.541379451751709,
            0.12228026986122131
        ],
        "angular_velocity": [
            0.948118269443512,
            -0.07132799923419952,
            1.9450187683105469
        ],
        "forward_vector": [
            0.9972025156021118,
            -0.0744217038154602,
            -0.006968322210013866
        ],
        "right_vector": [
            0.07442205399274826,
            0.9972268342971802,
            -0.0002094602823490277
        ],
        "location": [
            -1597.8209228515625,
            1610.38330078125,
            324.411865234375
        ],
        "rotation": [
            0.012001480907201767,
            -0.39925867319107056,
            -4.268098831176758
        ],
        "velocity": [
            4.956628322601318,
            -0.33754202723503113,
            -0.047763075679540634
        ],
        "speed": 4.968108186076818,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.800748825073242,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1571.0218505859375,
                1610.6734619140625,
                324.33660888671875
            ],
            "velocity": [
                3.3212578296661377,
                0.028348557651042938,
                -0.001254663453437388
            ],
            "speed_kmh": 11.956964575795059,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.977880477905273,
                "transform": {
                    "location": {
                        "x": -1556.2734375,
                        "y": 1607.1005859375,
                        "z": 324.3485107421875
                    },
                    "rotation": {
                        "roll": 9.729224257171154e-05,
                        "pitch": -0.235129252076149,
                        "yaw": -179.44097900390625
                    }
                },
                "velocity": {
                    "x": -7.977460861206055,
                    "y": -0.07557028532028198,
                    "z": -0.031433701515197754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019073486328125,
                "transform": {
                    "location": {
                        "x": -1599.5765380859375,
                        "y": 1606.7335205078125,
                        "z": 324.4270324707031
                    },
                    "rotation": {
                        "roll": -0.0006408686167560518,
                        "pitch": 0.506192147731781,
                        "yaw": -179.51834106445312
                    }
                },
                "velocity": {
                    "x": -8.018485069274902,
                    "y": -0.0674031600356102,
                    "z": 0.06996312737464905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.996873378753662,
                "transform": {
                    "location": {
                        "x": -1641.304931640625,
                        "y": 1606.384033203125,
                        "z": 325.1871032714844
                    },
                    "rotation": {
                        "roll": 0.00021210734848864377,
                        "pitch": 1.401097059249878,
                        "yaw": -179.5160369873047
                    }
                },
                "velocity": {
                    "x": -7.994204044342041,
                    "y": -0.06836190819740295,
                    "z": 0.19497282803058624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.75098991394043,
                "transform": {
                    "location": {
                        "x": -1625.94189453125,
                        "y": 1610.21337890625,
                        "z": 324.86822509765625
                    },
                    "rotation": {
                        "roll": 0.0036900187842547894,
                        "pitch": -0.9226628541946411,
                        "yaw": 0.2865740656852722
                    }
                },
                "velocity": {
                    "x": 4.750020503997803,
                    "y": 0.033801134675741196,
                    "z": -0.08982768654823303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.148129940032959,
                "transform": {
                    "location": {
                        "x": -1615.488037109375,
                        "y": 1610.302490234375,
                        "z": 324.66876220703125
                    },
                    "rotation": {
                        "roll": 0.0006534664425998926,
                        "pitch": -0.8557133674621582,
                        "yaw": 0.5839934945106506
                    }
                },
                "velocity": {
                    "x": 4.147231578826904,
                    "y": 0.03652435168623924,
                    "z": -0.07821733504533768
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3213791847229004,
                "transform": {
                    "location": {
                        "x": -1571.0218505859375,
                        "y": 1610.6734619140625,
                        "z": 324.33660888671875
                    },
                    "rotation": {
                        "roll": 3.85966595786158e-05,
                        "pitch": -0.08108799904584885,
                        "yaw": 0.5051444172859192
                    }
                },
                "velocity": {
                    "x": 3.3212578296661377,
                    "y": 0.028348557651042938,
                    "z": -0.001254663453437388
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.884951114654541,
                "transform": {
                    "location": {
                        "x": -1554.288818359375,
                        "y": 1610.813232421875,
                        "z": 324.35552978515625
                    },
                    "rotation": {
                        "roll": 0.00014293384447228163,
                        "pitch": 0.2532360851764679,
                        "yaw": 0.49057772755622864
                    }
                },
                "velocity": {
                    "x": 4.884695529937744,
                    "y": 0.0418463759124279,
                    "z": 0.027344264090061188
                },
                "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": 0.15710137784481049,
        "expert_target_speed": 6.07105378002763,
        "target_point": [
            30.02542410028291,
            2.4584536098619174
        ],
        "target_point_next": [
            76.86418105348146,
            6.3490645323060395
        ]
    },
    "345": {
        "acceleration": [
            0.07173538208007812,
            0.29598474502563477,
            0.1098237931728363
        ],
        "angular_velocity": [
            0.11361817270517349,
            -0.1346689611673355,
            2.7339861392974854
        ],
        "forward_vector": [
            0.9979351162910461,
            -0.06379670649766922,
            -0.007443954702466726
        ],
        "right_vector": [
            0.0638076514005661,
            0.9979614019393921,
            0.0012425960740074515
        ],
        "location": [
            -1596.576171875,
            1610.3092041015625,
            324.4017028808594
        ],
        "rotation": [
            -0.0711975023150444,
            -0.42651113867759705,
            -3.657867908477783
        ],
        "velocity": [
            4.993846893310547,
            -0.25348222255706787,
            -0.03365637734532356
        ],
        "speed": 5.000275995480637,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.466203689575195,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1570.1126708984375,
                1610.6812744140625,
                324.3336486816406
            ],
            "velocity": [
                4.01007080078125,
                0.033205464482307434,
                -0.0036607931833714247
            ],
            "speed_kmh": 14.43675581482812,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.114084243774414,
                "transform": {
                    "location": {
                        "x": -1558.28369140625,
                        "y": 1607.0816650390625,
                        "z": 324.34033203125
                    },
                    "rotation": {
                        "roll": 3.0557799618691206e-05,
                        "pitch": -0.24142667651176453,
                        "yaw": -179.47314453125
                    }
                },
                "velocity": {
                    "x": -8.11368179321289,
                    "y": -0.07314828038215637,
                    "z": -0.03422975912690163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026466369628906,
                "transform": {
                    "location": {
                        "x": -1601.5831298828125,
                        "y": 1606.7166748046875,
                        "z": 324.4478759765625
                    },
                    "rotation": {
                        "roll": -0.001647948520258069,
                        "pitch": 0.6496602296829224,
                        "yaw": -179.5148162841797
                    }
                },
                "velocity": {
                    "x": -8.025679588317871,
                    "y": -0.06799449026584625,
                    "z": 0.08951034396886826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.963124752044678,
                "transform": {
                    "location": {
                        "x": -1643.29931640625,
                        "y": 1606.367431640625,
                        "z": 325.2361755371094
                    },
                    "rotation": {
                        "roll": 0.0003304115089122206,
                        "pitch": 1.412121057510376,
                        "yaw": -179.5146484375
                    }
                },
                "velocity": {
                    "x": -7.960233688354492,
                    "y": -0.06745769083499908,
                    "z": 0.20368024706840515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000820909917820245,
                "transform": {
                    "location": {
                        "x": -1625.4542236328125,
                        "y": 1610.2156982421875,
                        "z": 324.856201171875
                    },
                    "rotation": {
                        "roll": 0.00583405327051878,
                        "pitch": -0.6163288950920105,
                        "yaw": 0.0781678706407547
                    }
                },
                "velocity": {
                    "x": -0.0007382783223874867,
                    "y": 1.4476105434368947e-06,
                    "z": 0.0003589375119190663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.400295734405518,
                "transform": {
                    "location": {
                        "x": -1614.2696533203125,
                        "y": 1610.3131103515625,
                        "z": 324.646240234375
                    },
                    "rotation": {
                        "roll": 0.0007130519952625036,
                        "pitch": -0.8678574562072754,
                        "yaw": 0.5221928954124451
                    }
                },
                "velocity": {
                    "x": 5.399161338806152,
                    "y": 0.045992329716682434,
                    "z": -0.10066813975572586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.010210037231445,
                "transform": {
                    "location": {
                        "x": -1570.1126708984375,
                        "y": 1610.6812744140625,
                        "z": 324.3336486816406
                    },
                    "rotation": {
                        "roll": 0.0005989237106405199,
                        "pitch": 0.20209161937236786,
                        "yaw": 0.49548760056495667
                    }
                },
                "velocity": {
                    "x": 4.01007080078125,
                    "y": 0.033205464482307434,
                    "z": -0.0036607931833714247
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.069204807281494,
                "transform": {
                    "location": {
                        "x": -1553.02783203125,
                        "y": 1610.82373046875,
                        "z": 324.36358642578125
                    },
                    "rotation": {
                        "roll": 0.0009506331407465041,
                        "pitch": 0.36593419313430786,
                        "yaw": 0.5242416858673096
                    }
                },
                "velocity": {
                    "x": 5.068878173828125,
                    "y": 0.04332374781370163,
                    "z": 0.03786691650748253
                },
                "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": 0.19615091383457184,
        "expert_target_speed": 6.103841062245767,
        "target_point": [
            28.802962047482026,
            2.1330665628743217
        ],
        "target_point_next": [
            75.68049871292116,
            5.524609346189441
        ]
    },
    "350": {
        "acceleration": [
            -0.018987655639648438,
            0.23814797401428223,
            0.09556226432323456
        ],
        "angular_velocity": [
            -0.03652770444750786,
            -0.3712955713272095,
            2.7894935607910156
        ],
        "forward_vector": [
            0.9986470341682434,
            -0.05163872241973877,
            -0.0061236233450472355
        ],
        "right_vector": [
            0.05164774879813194,
            0.9986644983291626,
            0.0013246306916698813
        ],
        "location": [
            -1595.3267822265625,
            1610.2518310546875,
            324.39422607421875
        ],
        "rotation": [
            -0.07589719444513321,
            -0.35085996985435486,
            -2.960052967071533
        ],
        "velocity": [
            4.995785236358643,
            -0.18953277170658112,
            -0.025379428640007973
        ],
        "speed": 4.999379241402852,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.36164093017578,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1568.9688720703125,
                1610.69091796875,
                324.3321838378906
            ],
            "velocity": [
                5.113451957702637,
                0.0422348715364933,
                0.00021475792163982987
            ],
            "speed_kmh": 18.409054967998486,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05591106414795,
                "transform": {
                    "location": {
                        "x": -1560.3082275390625,
                        "y": 1607.0631103515625,
                        "z": 324.3317565917969
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.24441830813884735,
                        "yaw": -179.48460388183594
                    }
                },
                "velocity": {
                    "x": -8.055510520935059,
                    "y": -0.07263466715812683,
                    "z": -0.034168075770139694
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015678405761719,
                "transform": {
                    "location": {
                        "x": -1603.58935546875,
                        "y": 1606.7000732421875,
                        "z": 324.4710998535156
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.7560404539108276,
                        "yaw": -179.51441955566406
                    }
                },
                "velocity": {
                    "x": -8.014737129211426,
                    "y": -0.06796332448720932,
                    "z": 0.10235795378684998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.994793891906738,
                "transform": {
                    "location": {
                        "x": -1645.294189453125,
                        "y": 1606.3509521484375,
                        "z": 325.2867736816406
                    },
                    "rotation": {
                        "roll": -9.155215957434848e-05,
                        "pitch": 1.5062068700790405,
                        "yaw": -179.51348876953125
                    }
                },
                "velocity": {
                    "x": -7.991845607757568,
                    "y": -0.06858871132135391,
                    "z": 0.20598602294921875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2936128377914429,
                "transform": {
                    "location": {
                        "x": -1625.26806640625,
                        "y": 1610.2174072265625,
                        "z": 324.8564758300781
                    },
                    "rotation": {
                        "roll": 0.008520868606865406,
                        "pitch": -1.0670462846755981,
                        "yaw": 0.09273803234100342
                    }
                },
                "velocity": {
                    "x": 1.2933439016342163,
                    "y": 0.010778526775538921,
                    "z": -0.024073127657175064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.93320369720459,
                "transform": {
                    "location": {
                        "x": -1612.83935546875,
                        "y": 1610.3253173828125,
                        "z": 324.6197509765625
                    },
                    "rotation": {
                        "roll": 0.0003759025130420923,
                        "pitch": -0.9379556775093079,
                        "yaw": 0.5112808346748352
                    }
                },
                "velocity": {
                    "x": 5.932044506072998,
                    "y": 0.05004541575908661,
                    "z": -0.10606323927640915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.113626480102539,
                "transform": {
                    "location": {
                        "x": -1568.9688720703125,
                        "y": 1610.69091796875,
                        "z": 324.3321838378906
                    },
                    "rotation": {
                        "roll": 0.0003061000898014754,
                        "pitch": 0.2733305096626282,
                        "yaw": 0.4872327446937561
                    }
                },
                "velocity": {
                    "x": 5.113451957702637,
                    "y": 0.0422348715364933,
                    "z": 0.00021475792163982987
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.907233238220215,
                "transform": {
                    "location": {
                        "x": -1551.814208984375,
                        "y": 1610.8311767578125,
                        "z": 324.3710632324219
                    },
                    "rotation": {
                        "roll": 0.0031400497537106276,
                        "pitch": 0.4648216664791107,
                        "yaw": 0.8871294856071472
                    }
                },
                "velocity": {
                    "x": 4.906898498535156,
                    "y": 0.045865755528211594,
                    "z": 0.03439587354660034
                },
                "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": 0.23920948803424835,
        "expert_target_speed": 6.108787812336397,
        "target_point": [
            27.57611873296192,
            1.7749002772579967
        ],
        "target_point_next": [
            74.49148377757072,
            4.595277734575941
        ]
    },
    "355": {
        "acceleration": [
            0.20020484924316406,
            0.23980975151062012,
            0.08201833814382553
        ],
        "angular_velocity": [
            -0.014216899871826172,
            -0.4830394983291626,
            2.768409490585327
        ],
        "forward_vector": [
            0.999213457107544,
            -0.03940952569246292,
            -0.0043898681178689
        ],
        "right_vector": [
            0.03941570967435837,
            0.9992219805717468,
            0.001331034698523581
        ],
        "location": [
            -1594.078125,
            1610.2095947265625,
            324.3865661621094
        ],
        "rotation": [
            -0.076263427734375,
            -0.2515217065811157,
            -2.258606195449829
        ],
        "velocity": [
            5.003683567047119,
            -0.12821897864341736,
            -0.026836223900318146
        ],
        "speed": 5.005326097830364,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.3883056640625,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1567.6944580078125,
                1610.7015380859375,
                324.3339538574219
            ],
            "velocity": [
                5.284277439117432,
                0.04442379251122475,
                0.0008866691496223211
            ],
            "speed_kmh": 19.024071267150735,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1521.1971435546875,
                        "y": 1607.489990234375,
                        "z": 324.84417724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8650434017181396,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061445236206055,
                "transform": {
                    "location": {
                        "x": -1562.320556640625,
                        "y": 1607.0452880859375,
                        "z": 324.3265686035156
                    },
                    "rotation": {
                        "roll": -9.15526834432967e-05,
                        "pitch": -0.0893593579530716,
                        "yaw": -179.4953155517578
                    }
                },
                "velocity": {
                    "x": -8.061127662658691,
                    "y": -0.07103268802165985,
                    "z": -0.008134718053042889
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027754783630371,
                "transform": {
                    "location": {
                        "x": -1605.5953369140625,
                        "y": 1606.68359375,
                        "z": 324.4974060058594
                    },
                    "rotation": {
                        "roll": -0.0003356929519213736,
                        "pitch": 0.7640112638473511,
                        "yaw": -179.5144805908203
                    }
                },
                "velocity": {
                    "x": -8.026641845703125,
                    "y": -0.0680239126086235,
                    "z": 0.1150190532207489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.962700366973877,
                "transform": {
                    "location": {
                        "x": -1647.2882080078125,
                        "y": 1606.3343505859375,
                        "z": 325.339111328125
                    },
                    "rotation": {
                        "roll": 0.0003409622877370566,
                        "pitch": 1.5245118141174316,
                        "yaw": -179.51100158691406
                    }
                },
                "velocity": {
                    "x": -7.959603786468506,
                    "y": -0.0678982213139534,
                    "z": 0.21139642596244812
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1156599521636963,
                "transform": {
                    "location": {
                        "x": -1624.8338623046875,
                        "y": 1610.2205810546875,
                        "z": 324.84906005859375
                    },
                    "rotation": {
                        "roll": 0.007091990672051907,
                        "pitch": -1.1542950868606567,
                        "yaw": 0.1814185231924057
                    }
                },
                "velocity": {
                    "x": 2.115201234817505,
                    "y": 0.01832704246044159,
                    "z": -0.04006185382604599
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.926291465759277,
                "transform": {
                    "location": {
                        "x": -1611.1234130859375,
                        "y": 1610.3394775390625,
                        "z": 324.5895080566406
                    },
                    "rotation": {
                        "roll": 0.0014322127681225538,
                        "pitch": -0.7054970264434814,
                        "yaw": 0.4788617193698883
                    }
                },
                "velocity": {
                    "x": 7.924766540527344,
                    "y": 0.06475768238306046,
                    "z": -0.14135907590389252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.284464359283447,
                "transform": {
                    "location": {
                        "x": -1567.6944580078125,
                        "y": 1610.7015380859375,
                        "z": 324.3339538574219
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": 0.0760883018374443,
                        "yaw": 0.4826284646987915
                    }
                },
                "velocity": {
                    "x": 5.284277439117432,
                    "y": 0.04442379251122475,
                    "z": 0.0008866691496223211
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.945944786071777,
                "transform": {
                    "location": {
                        "x": -1550.5538330078125,
                        "y": 1610.845458984375,
                        "z": 324.3809509277344
                    },
                    "rotation": {
                        "roll": 0.0025944921653717756,
                        "pitch": 0.5098052620887756,
                        "yaw": 0.613499641418457
                    }
                },
                "velocity": {
                    "x": 4.9455952644348145,
                    "y": 0.04307856783270836,
                    "z": 0.0400535948574543
                },
                "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": 0.26419055461883545,
        "expert_target_speed": 6.1158611448186795,
        "target_point": [
            26.346429265161994,
            1.4301676237477665
        ],
        "target_point_next": [
            73.29280627765073,
            3.675984105991537
        ]
    },
    "360": {
        "acceleration": [
            -0.047969818115234375,
            0.255613774061203,
            0.017729178071022034
        ],
        "angular_velocity": [
            0.02775682508945465,
            0.04756265506148338,
            2.9129064083099365
        ],
        "forward_vector": [
            0.9996196627616882,
            -0.027262363582849503,
            -0.0041571734473109245
        ],
        "right_vector": [
            0.027268745005130768,
            0.9996269941329956,
            0.0014865631237626076
        ],
        "location": [
            -1592.8310546875,
            1610.1832275390625,
            324.38067626953125
        ],
        "rotation": [
            -0.085174560546875,
            -0.23818917572498322,
            -1.5622254610061646
        ],
        "velocity": [
            4.990378379821777,
            -0.06464944034814835,
            -0.02022826112806797
        ],
        "speed": 4.99079712309867,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.578330993652344,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1566.258056640625,
                1610.7135009765625,
                324.3328552246094
            ],
            "velocity": [
                6.515647888183594,
                0.05454181507229805,
                0.00014267921505961567
            ],
            "speed_kmh": 23.45715420370321,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1523.2786865234375,
                        "y": 1607.472412109375,
                        "z": 324.7736511230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8650434017181396,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.065742492675781,
                "transform": {
                    "location": {
                        "x": -1564.33837890625,
                        "y": 1607.02783203125,
                        "z": 324.32421875
                    },
                    "rotation": {
                        "roll": 0.0003781931009143591,
                        "pitch": 0.02839992567896843,
                        "yaw": -179.51043701171875
                    }
                },
                "velocity": {
                    "x": -8.06545639038086,
                    "y": -0.06786885112524033,
                    "z": 0.0023515319917351007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012778282165527,
                "transform": {
                    "location": {
                        "x": -1607.6009521484375,
                        "y": 1606.6668701171875,
                        "z": 324.527099609375
                    },
                    "rotation": {
                        "roll": 0.00011844391701743007,
                        "pitch": 0.9345952272415161,
                        "yaw": -179.51429748535156
                    }
                },
                "velocity": {
                    "x": -8.011560440063477,
                    "y": -0.06791751831769943,
                    "z": 0.12207838147878647
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.992295265197754,
                "transform": {
                    "location": {
                        "x": -1649.2823486328125,
                        "y": 1606.317626953125,
                        "z": 325.3928527832031
                    },
                    "rotation": {
                        "roll": -0.00027465782477520406,
                        "pitch": 1.552611231803894,
                        "yaw": -179.51052856445312
                    }
                },
                "velocity": {
                    "x": -7.988896369934082,
                    "y": -0.06820783764123917,
                    "z": 0.22285374999046326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7600975036621094,
                "transform": {
                    "location": {
                        "x": -1624.3394775390625,
                        "y": 1610.224365234375,
                        "z": 324.8389892578125
                    },
                    "rotation": {
                        "roll": 0.00394795136526227,
                        "pitch": -1.0555715560913086,
                        "yaw": 0.24882879853248596
                    }
                },
                "velocity": {
                    "x": 1.7597123384475708,
                    "y": 0.015390537679195404,
                    "z": -0.033455152064561844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.673149585723877,
                "transform": {
                    "location": {
                        "x": -1609.1268310546875,
                        "y": 1610.35595703125,
                        "z": 324.5552978515625
                    },
                    "rotation": {
                        "roll": 0.0006775017245672643,
                        "pitch": -0.9158053994178772,
                        "yaw": 0.4883822500705719
                    }
                },
                "velocity": {
                    "x": 7.6718430519104,
                    "y": 0.06289131194353104,
                    "z": -0.12687881290912628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.515876293182373,
                "transform": {
                    "location": {
                        "x": -1566.258056640625,
                        "y": 1610.7135009765625,
                        "z": 324.3328552246094
                    },
                    "rotation": {
                        "roll": 0.0006811250350438058,
                        "pitch": 0.21888023614883423,
                        "yaw": 0.4809483289718628
                    }
                },
                "velocity": {
                    "x": 6.515647888183594,
                    "y": 0.05454181507229805,
                    "z": 0.00014267921505961567
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.97224235534668,
                "transform": {
                    "location": {
                        "x": -1549.3065185546875,
                        "y": 1610.857421875,
                        "z": 324.3918762207031
                    },
                    "rotation": {
                        "roll": 0.00021508421923499554,
                        "pitch": 0.49403437972068787,
                        "yaw": 0.43768998980522156
                    }
                },
                "velocity": {
                    "x": 4.971907615661621,
                    "y": 0.039279308170080185,
                    "z": 0.04226284846663475
                },
                "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": 0.28194618225097656,
        "expert_target_speed": 6.11005320937195,
        "target_point": [
            25.114539666201722,
            1.1022116813511644
        ],
        "target_point_next": [
            72.08474442155008,
            2.7772852651968662
        ]
    },
    "365": {
        "acceleration": [
            -0.053997039794921875,
            0.25115451216697693,
            -0.004082769155502319
        ],
        "angular_velocity": [
            0.021736236289143562,
            0.029274465516209602,
            2.901740789413452
        ],
        "forward_vector": [
            0.9998839497566223,
            -0.01458387728780508,
            -0.004401668906211853
        ],
        "right_vector": [
            0.014590787701308727,
            0.9998923540115356,
            0.0015419545816257596
        ],
        "location": [
            -1591.587158203125,
            1610.1727294921875,
            324.37567138671875
        ],
        "rotation": [
            -0.0883483812212944,
            -0.25219789147377014,
            -0.83563232421875
        ],
        "velocity": [
            4.967628002166748,
            -0.001193747972138226,
            -0.020661648362874985
        ],
        "speed": 4.9676281455988045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.141094207763672,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1564.4517822265625,
                1610.7281494140625,
                324.3317565917969
            ],
            "velocity": [
                7.709167957305908,
                0.06531272083520889,
                -0.0010273837251588702
            ],
            "speed_kmh": 27.754000877650085,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038768768310547,
                "transform": {
                    "location": {
                        "x": -1525.30859375,
                        "y": 1607.438232421875,
                        "z": 324.7138671875
                    },
                    "rotation": {
                        "roll": -0.09149169921875,
                        "pitch": -0.918482780456543,
                        "yaw": -178.97509765625
                    }
                },
                "velocity": {
                    "x": -8.034700393676758,
                    "y": -0.1732461154460907,
                    "z": -0.18806536495685577
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.074769973754883,
                "transform": {
                    "location": {
                        "x": -1566.356201171875,
                        "y": 1607.0111083984375,
                        "z": 324.3250732421875
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.008469434455037117,
                        "yaw": -179.5190887451172
                    }
                },
                "velocity": {
                    "x": -8.074484825134277,
                    "y": -0.06785102188587189,
                    "z": 0.002472448395565152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028947830200195,
                "transform": {
                    "location": {
                        "x": -1609.6065673828125,
                        "y": 1606.649658203125,
                        "z": 324.55963134765625
                    },
                    "rotation": {
                        "roll": 1.3279268387123011e-05,
                        "pitch": 0.9958620071411133,
                        "yaw": -179.51052856445312
                    }
                },
                "velocity": {
                    "x": -8.027490615844727,
                    "y": -0.06859555840492249,
                    "z": 0.13671445846557617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9607744216918945,
                "transform": {
                    "location": {
                        "x": -1651.27587890625,
                        "y": 1606.301025390625,
                        "z": 325.44775390625
                    },
                    "rotation": {
                        "roll": 0.0005042646080255508,
                        "pitch": 1.645843267440796,
                        "yaw": -179.5112762451172
                    }
                },
                "velocity": {
                    "x": -7.95734977722168,
                    "y": -0.06724776327610016,
                    "z": 0.2235925793647766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2327585220336914,
                "transform": {
                    "location": {
                        "x": -1623.85888671875,
                        "y": 1610.228271484375,
                        "z": 324.8303527832031
                    },
                    "rotation": {
                        "roll": 0.0035506251733750105,
                        "pitch": -1.1000975370407104,
                        "yaw": 0.29731813073158264
                    }
                },
                "velocity": {
                    "x": 2.2322845458984375,
                    "y": 0.019364135339856148,
                    "z": -0.0417303666472435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.743931293487549,
                "transform": {
                    "location": {
                        "x": -1607.331787109375,
                        "y": 1610.37060546875,
                        "z": 324.5262756347656
                    },
                    "rotation": {
                        "roll": 0.0021563274785876274,
                        "pitch": -0.998566746711731,
                        "yaw": 0.459045946598053
                    }
                },
                "velocity": {
                    "x": 6.742975234985352,
                    "y": 0.05290471017360687,
                    "z": -0.10046243667602539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.709444522857666,
                "transform": {
                    "location": {
                        "x": -1564.4517822265625,
                        "y": 1610.7281494140625,
                        "z": 324.3317565917969
                    },
                    "rotation": {
                        "roll": -0.0007934570894576609,
                        "pitch": 0.337172269821167,
                        "yaw": 0.5304550528526306
                    }
                },
                "velocity": {
                    "x": 7.709167957305908,
                    "y": 0.06531272083520889,
                    "z": -0.0010273837251588702
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.98870849609375,
                "transform": {
                    "location": {
                        "x": -1548.0609130859375,
                        "y": 1610.8671875,
                        "z": 324.40264892578125
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.49246343970298767,
                        "yaw": 0.4453302025794983
                    }
                },
                "velocity": {
                    "x": 4.988376140594482,
                    "y": 0.038836196064949036,
                    "z": 0.04250399395823479
                },
                "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": 0.2663685381412506,
        "expert_target_speed": 6.097121740801706,
        "target_point": [
            23.882580241071928,
            0.7759979198829032
        ],
        "target_point_next": [
            70.87025002174545,
            1.855300867635671
        ]
    },
    "370": {
        "acceleration": [
            -0.0458526611328125,
            0.2507699131965637,
            0.012356378138065338
        ],
        "angular_velocity": [
            0.011847727932035923,
            -0.22592127323150635,
            2.896536111831665
        ],
        "forward_vector": [
            0.9999907612800598,
            -0.0019334391690790653,
            -0.0038450858555734158
        ],
        "right_vector": [
            0.0019396216375753284,
            0.9999968409538269,
            0.0016048081452026963
        ],
        "location": [
            -1590.3465576171875,
            1610.177978515625,
            324.37127685546875
        ],
        "rotation": [
            -0.0919494554400444,
            -0.22030773758888245,
            -0.1107787936925888
        ],
        "velocity": [
            4.955246448516846,
            0.061700090765953064,
            -0.01458735391497612
        ],
        "speed": 4.955630561970832,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.581981658935547,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1562.770263671875,
                1610.7371826171875,
                324.33831787109375
            ],
            "velocity": [
                4.464799880981445,
                0.025188051164150238,
                0.006822376046329737
            ],
            "speed_kmh": 16.073554109808132,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.254215240478516,
                "transform": {
                    "location": {
                        "x": -1527.345947265625,
                        "y": 1607.4024658203125,
                        "z": 324.6737060546875
                    },
                    "rotation": {
                        "roll": -0.019439691677689552,
                        "pitch": -0.8816202878952026,
                        "yaw": -178.97698974609375
                    }
                },
                "velocity": {
                    "x": -8.251761436462402,
                    "y": -0.14113283157348633,
                    "z": -0.14347095787525177
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048407554626465,
                "transform": {
                    "location": {
                        "x": -1568.3704833984375,
                        "y": 1606.9945068359375,
                        "z": 324.3254089355469
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.004603547044098377,
                        "yaw": -179.51991271972656
                    }
                },
                "velocity": {
                    "x": -8.048125267028809,
                    "y": -0.06745832413434982,
                    "z": 0.000537710206117481
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010068893432617,
                "transform": {
                    "location": {
                        "x": -1611.6112060546875,
                        "y": 1606.6328125,
                        "z": 324.5943603515625
                    },
                    "rotation": {
                        "roll": 0.0005285164806991816,
                        "pitch": 1.0113118886947632,
                        "yaw": -179.51492309570312
                    }
                },
                "velocity": {
                    "x": -8.008490562438965,
                    "y": -0.06781705468893051,
                    "z": 0.14383549988269806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.99170446395874,
                "transform": {
                    "location": {
                        "x": -1653.269287109375,
                        "y": 1606.2843017578125,
                        "z": 325.5048828125
                    },
                    "rotation": {
                        "roll": 0.0007391275139525533,
                        "pitch": 1.6479469537734985,
                        "yaw": -179.51243591308594
                    }
                },
                "velocity": {
                    "x": -7.988119125366211,
                    "y": -0.0688120424747467,
                    "z": 0.22926141321659088
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1874427795410156,
                "transform": {
                    "location": {
                        "x": -1623.179931640625,
                        "y": 1610.2337646484375,
                        "z": 324.8180236816406
                    },
                    "rotation": {
                        "roll": 0.0031717359088361263,
                        "pitch": -1.1546571254730225,
                        "yaw": 0.35314929485321045
                    }
                },
                "velocity": {
                    "x": 3.1867659091949463,
                    "y": 0.02763996087014675,
                    "z": -0.05958862230181694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.945350170135498,
                "transform": {
                    "location": {
                        "x": -1605.7947998046875,
                        "y": 1610.382568359375,
                        "z": 324.50384521484375
                    },
                    "rotation": {
                        "roll": -0.00021362332336138934,
                        "pitch": -0.8883958458900452,
                        "yaw": 0.46055078506469727
                    }
                },
                "velocity": {
                    "x": 5.944504261016846,
                    "y": 0.04881036654114723,
                    "z": -0.08760568499565125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.464876174926758,
                "transform": {
                    "location": {
                        "x": -1562.770263671875,
                        "y": 1610.7371826171875,
                        "z": 324.33831787109375
                    },
                    "rotation": {
                        "roll": -0.008697509765625,
                        "pitch": -0.3996275067329407,
                        "yaw": 1.1394364833831787
                    }
                },
                "velocity": {
                    "x": 4.464799880981445,
                    "y": 0.025188051164150238,
                    "z": 0.006822376046329737
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.971759796142578,
                "transform": {
                    "location": {
                        "x": -1546.818359375,
                        "y": 1610.876953125,
                        "z": 324.4133605957031
                    },
                    "rotation": {
                        "roll": -6.103476698626764e-05,
                        "pitch": 0.49247708916664124,
                        "yaw": 0.4474799931049347
                    }
                },
                "velocity": {
                    "x": 4.971420764923096,
                    "y": 0.039762165397405624,
                    "z": 0.04226589947938919
                },
                "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": 0.2515718638896942,
        "expert_target_speed": 6.071192857198438,
        "target_point": [
            22.649897899144158,
            0.46615570409752954
        ],
        "target_point_next": [
            69.6474615323497,
            0.9509430940355047
        ]
    },
    "375": {
        "acceleration": [
            -0.07159233093261719,
            0.2485904097557068,
            -0.0055542029440402985
        ],
        "angular_velocity": [
            -0.0011435928754508495,
            -0.2146701216697693,
            2.8906002044677734
        ],
        "forward_vector": [
            0.9999387264251709,
            0.010692735202610493,
            -0.002868767362087965
        ],
        "right_vector": [
            -0.010688087902963161,
            0.9999415874481201,
            0.0016303793527185917
        ],
        "location": [
            -1589.1087646484375,
            1610.19873046875,
            324.3673400878906
        ],
        "rotation": [
            -0.09341428428888321,
            -0.16436849534511566,
            0.6126627922058105
        ],
        "velocity": [
            4.942518711090088,
            0.12401990592479706,
            -0.014865360222756863
        ],
        "speed": 4.944074447916538,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.12874984741211,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1561.9854736328125,
                1610.742431640625,
                324.3425598144531
            ],
            "velocity": [
                3.0616369247436523,
                0.031238479539752007,
                0.013418436050415039
            ],
            "speed_kmh": 11.02257248402339,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.083024024963379,
                "transform": {
                    "location": {
                        "x": -1529.38671875,
                        "y": 1607.3680419921875,
                        "z": 324.640380859375
                    },
                    "rotation": {
                        "roll": -0.006652830634266138,
                        "pitch": -0.8785671591758728,
                        "yaw": -179.04266357421875
                    }
                },
                "velocity": {
                    "x": -8.080938339233398,
                    "y": -0.13303150236606598,
                    "z": -0.12651580572128296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08382797241211,
                "transform": {
                    "location": {
                        "x": -1570.3880615234375,
                        "y": 1606.9779052734375,
                        "z": 324.3260803222656
                    },
                    "rotation": {
                        "roll": -3.051759267691523e-05,
                        "pitch": 0.032197508960962296,
                        "yaw": -179.52085876464844
                    }
                },
                "velocity": {
                    "x": -8.083537101745605,
                    "y": -0.06762923300266266,
                    "z": 0.0113357063382864
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0275239944458,
                "transform": {
                    "location": {
                        "x": -1613.6163330078125,
                        "y": 1606.6160888671875,
                        "z": 324.6302490234375
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": 1.0981509685516357,
                        "yaw": -179.51705932617188
                    }
                },
                "velocity": {
                    "x": -8.025898933410645,
                    "y": -0.06765910238027573,
                    "z": 0.14667369425296783
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.957170009613037,
                "transform": {
                    "location": {
                        "x": -1655.26220703125,
                        "y": 1606.2672119140625,
                        "z": 325.5632629394531
                    },
                    "rotation": {
                        "roll": 8.275463187601417e-05,
                        "pitch": 1.6935521364212036,
                        "yaw": -179.50857543945312
                    }
                },
                "velocity": {
                    "x": -7.953254699707031,
                    "y": -0.0682934820652008,
                    "z": 0.2400573045015335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.3167924880981445,
                "transform": {
                    "location": {
                        "x": -1622.2396240234375,
                        "y": 1610.2412109375,
                        "z": 324.8006286621094
                    },
                    "rotation": {
                        "roll": 0.002303558401763439,
                        "pitch": -1.180509328842163,
                        "yaw": 0.40593504905700684
                    }
                },
                "velocity": {
                    "x": 4.31587028503418,
                    "y": 0.03739677369594574,
                    "z": -0.08101855963468552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.141867160797119,
                "transform": {
                    "location": {
                        "x": -1604.275634765625,
                        "y": 1610.395263671875,
                        "z": 324.48333740234375
                    },
                    "rotation": {
                        "roll": -6.10352581134066e-05,
                        "pitch": -0.7207010388374329,
                        "yaw": 0.48800888657569885
                    }
                },
                "velocity": {
                    "x": 6.141201019287109,
                    "y": 0.05068717524409294,
                    "z": -0.07494550198316574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.061825752258301,
                "transform": {
                    "location": {
                        "x": -1561.9854736328125,
                        "y": 1610.742431640625,
                        "z": 324.3425598144531
                    },
                    "rotation": {
                        "roll": -0.02142333798110485,
                        "pitch": -0.5872800946235657,
                        "yaw": 1.1581348180770874
                    }
                },
                "velocity": {
                    "x": 3.0616369247436523,
                    "y": 0.031238479539752007,
                    "z": 0.013418436050415039
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.960980415344238,
                "transform": {
                    "location": {
                        "x": -1545.578369140625,
                        "y": 1610.88671875,
                        "z": 324.4240417480469
                    },
                    "rotation": {
                        "roll": -0.0012207026593387127,
                        "pitch": 0.49359041452407837,
                        "yaw": 0.4521135687828064
                    }
                },
                "velocity": {
                    "x": 4.960644245147705,
                    "y": 0.039187315851449966,
                    "z": 0.0424007773399353
                },
                "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": 0.21419960260391235,
        "expert_target_speed": 6.0484808931332115,
        "target_point": [
            21.416034044751985,
            0.17262395656423235
        ],
        "target_point_next": [
            68.41597236730236,
            0.06397798513633579
        ]
    },
    "380": {
        "acceleration": [
            -0.12773513793945312,
            0.07490456104278564,
            0.01808891072869301
        ],
        "angular_velocity": [
            -0.1316092163324356,
            0.009259594604372978,
            2.2416138648986816
        ],
        "forward_vector": [
            0.9997455477714539,
            0.022437676787376404,
            -0.002306816866621375
        ],
        "right_vector": [
            -0.022434525191783905,
            0.9997473359107971,
            0.0013837742153555155
        ],
        "location": [
            -1587.8758544921875,
            1610.2337646484375,
            324.36376953125
        ],
        "rotation": [
            -0.0792846605181694,
            -0.13217099010944366,
            1.2856955528259277
        ],
        "velocity": [
            4.914925575256348,
            0.16699086129665375,
            -0.01099997479468584
        ],
        "speed": 4.917761620703624,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.689006805419922,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1561.19189453125,
                1610.752197265625,
                324.3385314941406
            ],
            "velocity": [
                3.338343381881714,
                0.03380027040839195,
                0.010047778487205505
            ],
            "speed_kmh": 12.01870659310951,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.296010971069336,
                "transform": {
                    "location": {
                        "x": -1531.434814453125,
                        "y": 1607.3359375,
                        "z": 324.6087951660156
                    },
                    "rotation": {
                        "roll": 0.014461569488048553,
                        "pitch": -0.8679462671279907,
                        "yaw": -179.1180877685547
                    }
                },
                "velocity": {
                    "x": -8.294255256652832,
                    "y": -0.11418568342924118,
                    "z": -0.12685102224349976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04504680633545,
                "transform": {
                    "location": {
                        "x": -1572.404052734375,
                        "y": 1606.961181640625,
                        "z": 324.3285217285156
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.12908373773097992,
                        "yaw": -179.5207061767578
                    }
                },
                "velocity": {
                    "x": -8.044754981994629,
                    "y": -0.06727736443281174,
                    "z": 0.012574662454426289
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011975288391113,
                "transform": {
                    "location": {
                        "x": -1615.6212158203125,
                        "y": 1606.5989990234375,
                        "z": 324.6679382324219
                    },
                    "rotation": {
                        "roll": 0.0011518817627802491,
                        "pitch": 1.1039838790893555,
                        "yaw": -179.5145263671875
                    }
                },
                "velocity": {
                    "x": -8.010268211364746,
                    "y": -0.06670625507831573,
                    "z": 0.15132300555706024
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9887375831604,
                "transform": {
                    "location": {
                        "x": -1657.2550048828125,
                        "y": 1606.25048828125,
                        "z": 325.62274169921875
                    },
                    "rotation": {
                        "roll": 0.0007892076391726732,
                        "pitch": 1.7781850099563599,
                        "yaw": -179.5094451904297
                    }
                },
                "velocity": {
                    "x": -7.9847002029418945,
                    "y": -0.0682954490184784,
                    "z": 0.24460344016551971
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2012858390808105,
                "transform": {
                    "location": {
                        "x": -1621.020751953125,
                        "y": 1610.2515869140625,
                        "z": 324.7779846191406
                    },
                    "rotation": {
                        "roll": 0.0011702226474881172,
                        "pitch": -1.1726409196853638,
                        "yaw": 0.4500587582588196
                    }
                },
                "velocity": {
                    "x": 5.200202941894531,
                    "y": 0.0449783094227314,
                    "z": -0.09612318128347397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.388832092285156,
                "transform": {
                    "location": {
                        "x": -1602.458984375,
                        "y": 1610.4075927734375,
                        "z": 324.4625549316406
                    },
                    "rotation": {
                        "roll": 0.11049284040927887,
                        "pitch": -0.5396395325660706,
                        "yaw": 0.37563756108283997
                    }
                },
                "velocity": {
                    "x": 7.388185024261475,
                    "y": 0.043208587914705276,
                    "z": -0.08772989362478256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.338529586791992,
                "transform": {
                    "location": {
                        "x": -1561.19189453125,
                        "y": 1610.752197265625,
                        "z": 324.3385314941406
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.27361735701560974,
                        "yaw": 0.9591107964515686
                    }
                },
                "velocity": {
                    "x": 3.338343381881714,
                    "y": 0.03380027040839195,
                    "z": 0.010047778487205505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.917881488800049,
                "transform": {
                    "location": {
                        "x": -1544.3387451171875,
                        "y": 1610.8963623046875,
                        "z": 324.4364318847656
                    },
                    "rotation": {
                        "roll": -0.0008239743765443563,
                        "pitch": 0.5684219598770142,
                        "yaw": 0.45532968640327454
                    }
                },
                "velocity": {
                    "x": 4.917385578155518,
                    "y": 0.03938455879688263,
                    "z": 0.05765891075134277
                },
                "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": 0.15613682568073273,
        "expert_target_speed": 6.020716349131784,
        "target_point": [
            20.183198386487113,
            -0.08631033416188116
        ],
        "target_point_next": [
            67.17861793807224,
            -0.7470277027383335
        ]
    },
    "385": {
        "acceleration": [
            0.005664825439453125,
            -0.1009589433670044,
            0.00650748610496521
        ],
        "angular_velocity": [
            -0.19199682772159576,
            -0.008991634473204613,
            0.6167777180671692
        ],
        "forward_vector": [
            0.9995931386947632,
            0.028424015268683434,
            -0.0023595071397721767
        ],
        "right_vector": [
            -0.02842297963798046,
            0.9995958805084229,
            0.0004713781818281859
        ],
        "location": [
            -1586.649658203125,
            1610.2730712890625,
            324.3611755371094
        ],
        "rotation": [
            -0.027008056640625,
            -0.13518992066383362,
            1.6288001537322998
        ],
        "velocity": [
            4.90212869644165,
            0.15698064863681793,
            -0.010615911334753036
        ],
        "speed": 4.904641544549729,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.404815673828125,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1560.2493896484375,
                1610.7625732421875,
                324.3388366699219
            ],
            "velocity": [
                4.219051361083984,
                0.03968852758407593,
                0.011771783232688904
            ],
            "speed_kmh": 15.189316031826678,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.125165939331055,
                "transform": {
                    "location": {
                        "x": -1533.486328125,
                        "y": 1607.30908203125,
                        "z": 324.57769775390625
                    },
                    "rotation": {
                        "roll": 0.01718374527990818,
                        "pitch": -0.8713067173957825,
                        "yaw": -179.2662353515625
                    }
                },
                "velocity": {
                    "x": -8.123678207397461,
                    "y": -0.09911991655826569,
                    "z": -0.11978317052125931
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08263874053955,
                "transform": {
                    "location": {
                        "x": -1574.419921875,
                        "y": 1606.9447021484375,
                        "z": 324.3330383300781
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.13477328419685364,
                        "yaw": -179.51954650878906
                    }
                },
                "velocity": {
                    "x": -8.082324981689453,
                    "y": -0.0686231404542923,
                    "z": 0.01905215159058571
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027201652526855,
                "transform": {
                    "location": {
                        "x": -1617.6258544921875,
                        "y": 1606.5821533203125,
                        "z": 324.7057800292969
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 1.100363850593567,
                        "yaw": -179.51255798339844
                    }
                },
                "velocity": {
                    "x": -8.025487899780273,
                    "y": -0.06831831485033035,
                    "z": 0.1511077582836151
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1659.3182373046875,
                        "y": 1606.2965087890625,
                        "z": 325.6907653808594
                    },
                    "rotation": {
                        "roll": -8.341795587618606e-10,
                        "pitch": 1.810116171836853,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.807719707489014,
                "transform": {
                    "location": {
                        "x": -1619.6636962890625,
                        "y": 1610.2635498046875,
                        "z": 324.7521667480469
                    },
                    "rotation": {
                        "roll": 0.00043835671385750175,
                        "pitch": -1.133087396621704,
                        "yaw": 0.43702077865600586
                    }
                },
                "velocity": {
                    "x": 5.806478023529053,
                    "y": 0.04953726753592491,
                    "z": -0.1094110757112503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.351574897766113,
                "transform": {
                    "location": {
                        "x": -1600.7940673828125,
                        "y": 1610.4171142578125,
                        "z": 324.4427490234375
                    },
                    "rotation": {
                        "roll": -0.004302978049963713,
                        "pitch": -0.7895219922065735,
                        "yaw": 0.4576873779296875
                    }
                },
                "velocity": {
                    "x": 5.351180076599121,
                    "y": 0.028415895998477936,
                    "z": -0.05847376585006714
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.219254493713379,
                "transform": {
                    "location": {
                        "x": -1560.2493896484375,
                        "y": 1610.7625732421875,
                        "z": 324.3388366699219
                    },
                    "rotation": {
                        "roll": 0.007340497802942991,
                        "pitch": 0.5340661406517029,
                        "yaw": 0.7921590805053711
                    }
                },
                "velocity": {
                    "x": 4.219051361083984,
                    "y": 0.03968852758407593,
                    "z": 0.011771783232688904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.942534446716309,
                "transform": {
                    "location": {
                        "x": -1543.107177734375,
                        "y": 1610.90625,
                        "z": 324.44964599609375
                    },
                    "rotation": {
                        "roll": -0.0004577642248477787,
                        "pitch": 0.6835379600524902,
                        "yaw": 0.4615565240383148
                    }
                },
                "velocity": {
                    "x": 4.94202995300293,
                    "y": 0.04101891443133354,
                    "z": 0.05748596042394638
                },
                "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": 0.12411275506019592,
        "expert_target_speed": 6.010816010770279,
        "target_point": [
            18.955501564172586,
            -0.2116071943499922
        ],
        "target_point_next": [
            65.9461220027138,
            -1.1537308972676774
        ]
    },
    "390": {
        "acceleration": [
            0.02445220947265625,
            -0.04826992750167847,
            0.004948228597640991
        ],
        "angular_velocity": [
            -0.04549511894583702,
            -0.01669102907180786,
            -0.2819376289844513
        ],
        "forward_vector": [
            0.9995941519737244,
            0.028394222259521484,
            -0.0022886970546096563
        ],
        "right_vector": [
            -0.028394674882292747,
            0.9995967745780945,
            -0.00016492282156832516
        ],
        "location": [
            -1585.4234619140625,
            1610.308349609375,
            324.3585205078125
        ],
        "rotation": [
            0.009449406526982784,
            -0.1311327964067459,
            1.6270920038223267
        ],
        "velocity": [
            4.907616138458252,
            0.13315249979496002,
            -0.010524940676987171
        ],
        "speed": 4.909422140197106,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.367645263671875,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1559.0599365234375,
                1610.7742919921875,
                324.34405517578125
            ],
            "velocity": [
                5.073079586029053,
                0.044862836599349976,
                0.022455625236034393
            ],
            "speed_kmh": 18.26397952976151,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.334235191345215,
                "transform": {
                    "location": {
                        "x": -1535.5455322265625,
                        "y": 1607.2843017578125,
                        "z": 324.5486145019531
                    },
                    "rotation": {
                        "roll": 0.010132388211786747,
                        "pitch": -0.7736213207244873,
                        "yaw": -179.32240295410156
                    }
                },
                "velocity": {
                    "x": -8.332876205444336,
                    "y": -0.0972103700041771,
                    "z": -0.1148543506860733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04770278930664,
                "transform": {
                    "location": {
                        "x": -1576.4361572265625,
                        "y": 1606.927490234375,
                        "z": 324.3377380371094
                    },
                    "rotation": {
                        "roll": 0.0002009073505178094,
                        "pitch": 0.12943890690803528,
                        "yaw": -179.51451110839844
                    }
                },
                "velocity": {
                    "x": -8.047393798828125,
                    "y": -0.06817357987165451,
                    "z": 0.01833963394165039
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01147174835205,
                "transform": {
                    "location": {
                        "x": -1619.630126953125,
                        "y": 1606.5654296875,
                        "z": 324.7434387207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0969624519348145,
                        "yaw": -179.51541137695312
                    }
                },
                "velocity": {
                    "x": -8.009760856628418,
                    "y": -0.06775680184364319,
                    "z": 0.1510564237833023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1661.3997802734375,
                        "y": 1606.3111572265625,
                        "z": 325.7590026855469
                    },
                    "rotation": {
                        "roll": 8.342322943555303e-10,
                        "pitch": 1.9213389158248901,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.048565864562988,
                "transform": {
                    "location": {
                        "x": -1618.1265869140625,
                        "y": 1610.2767333984375,
                        "z": 324.7237243652344
                    },
                    "rotation": {
                        "roll": 0.0009945386555045843,
                        "pitch": -1.189204216003418,
                        "yaw": 0.4607813060283661
                    }
                },
                "velocity": {
                    "x": 7.047060966491699,
                    "y": 0.06070580333471298,
                    "z": -0.1323949247598648
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005997226573526859,
                "transform": {
                    "location": {
                        "x": -1600.309326171875,
                        "y": 1610.41796875,
                        "z": 324.43756103515625
                    },
                    "rotation": {
                        "roll": 0.04624869301915169,
                        "pitch": -1.296014666557312,
                        "yaw": 0.576478898525238
                    }
                },
                "velocity": {
                    "x": -0.00447614211589098,
                    "y": -0.0024859802797436714,
                    "z": 0.0031226235441863537
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.073327541351318,
                "transform": {
                    "location": {
                        "x": -1559.0599365234375,
                        "y": 1610.7742919921875,
                        "z": 324.34405517578125
                    },
                    "rotation": {
                        "roll": 0.005444609094411135,
                        "pitch": 0.4947447180747986,
                        "yaw": 0.6544972062110901
                    }
                },
                "velocity": {
                    "x": 5.073079586029053,
                    "y": 0.044862836599349976,
                    "z": 0.022455625236034393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.960951805114746,
                "transform": {
                    "location": {
                        "x": -1541.8699951171875,
                        "y": 1610.916259765625,
                        "z": 324.4635925292969
                    },
                    "rotation": {
                        "roll": -3.051738349313382e-05,
                        "pitch": 0.7607600688934326,
                        "yaw": 0.46933525800704956
                    }
                },
                "velocity": {
                    "x": 4.960367679595947,
                    "y": 0.04180871695280075,
                    "z": 0.063636414706707
                },
                "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": 0.10548319667577744,
        "expert_target_speed": 6.02028779072883,
        "target_point": [
            17.728804271517628,
            -0.21148943143908167
        ],
        "target_point_next": [
            64.71945276666516,
            -1.15221270431908
        ]
    },
    "395": {
        "acceleration": [
            -0.020847320556640625,
            -0.025468170642852783,
            -0.0011165626347064972
        ],
        "angular_velocity": [
            0.0015538829611614347,
            0.005067422520369291,
            -0.2887800633907318
        ],
        "forward_vector": [
            0.9996291399002075,
            0.02713792584836483,
            -0.0022742729634046555
        ],
        "right_vector": [
            -0.027138380333781242,
            0.9996317028999329,
            -0.00016948641859926283
        ],
        "location": [
            -1584.1961669921875,
            1610.3409423828125,
            324.35577392578125
        ],
        "rotation": [
            0.009710881859064102,
            -0.13030634820461273,
            1.5550835132598877
        ],
        "velocity": [
            4.907288074493408,
            0.12600813806056976,
            -0.010731344111263752
        ],
        "speed": 4.908905610920087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.44528579711914,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1557.754638671875,
                1610.7867431640625,
                324.3516540527344
            ],
            "velocity": [
                5.345205783843994,
                0.04546346142888069,
                0.024135464802384377
            ],
            "speed_kmh": 19.243633003395903,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.150299072265625,
                "transform": {
                    "location": {
                        "x": -1537.60546875,
                        "y": 1607.262451171875,
                        "z": 324.5212707519531
                    },
                    "rotation": {
                        "roll": 0.0144367516040802,
                        "pitch": -0.7407203316688538,
                        "yaw": -179.3994598388672
                    }
                },
                "velocity": {
                    "x": -8.149223327636719,
                    "y": -0.08196382224559784,
                    "z": -0.10394158959388733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079994201660156,
                "transform": {
                    "location": {
                        "x": -1578.4521484375,
                        "y": 1606.91064453125,
                        "z": 324.3422546386719
                    },
                    "rotation": {
                        "roll": -9.155274892691523e-05,
                        "pitch": 0.12883101403713226,
                        "yaw": -179.51699829101562
                    }
                },
                "velocity": {
                    "x": -8.079687118530273,
                    "y": -0.06798432022333145,
                    "z": 0.018532905727624893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027327537536621,
                "transform": {
                    "location": {
                        "x": -1621.635009765625,
                        "y": 1606.548583984375,
                        "z": 324.7810974121094
                    },
                    "rotation": {
                        "roll": 0.00022803357569500804,
                        "pitch": 1.0975021123886108,
                        "yaw": -179.51205444335938
                    }
                },
                "velocity": {
                    "x": -8.025619506835938,
                    "y": -0.06839171797037125,
                    "z": 0.15082046389579773
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6008,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1663.481201171875,
                        "y": 1606.2955322265625,
                        "z": 325.8270263671875
                    },
                    "rotation": {
                        "roll": 8.342322943555303e-10,
                        "pitch": 1.9213389158248901,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032231330871582,
                "transform": {
                    "location": {
                        "x": -1616.203857421875,
                        "y": 1610.292724609375,
                        "z": 324.68768310546875
                    },
                    "rotation": {
                        "roll": 0.0004366575740277767,
                        "pitch": -1.192229986190796,
                        "yaw": 0.47712188959121704
                    }
                },
                "velocity": {
                    "x": 8.030517578125,
                    "y": 0.06956768035888672,
                    "z": -0.15062092244625092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3299146890640259,
                "transform": {
                    "location": {
                        "x": -1600.1065673828125,
                        "y": 1610.41845703125,
                        "z": 324.436767578125
                    },
                    "rotation": {
                        "roll": 0.07381930947303772,
                        "pitch": -0.6020196676254272,
                        "yaw": 0.6666358113288879
                    }
                },
                "velocity": {
                    "x": 1.3298383951187134,
                    "y": 0.0052432408556342125,
                    "z": -0.013247241266071796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.34545373916626,
                "transform": {
                    "location": {
                        "x": -1557.754638671875,
                        "y": 1610.7867431640625,
                        "z": 324.3516540527344
                    },
                    "rotation": {
                        "roll": 0.0020348888356238604,
                        "pitch": 0.3070852756500244,
                        "yaw": 0.5635564923286438
                    }
                },
                "velocity": {
                    "x": 5.345205783843994,
                    "y": 0.04546346142888069,
                    "z": 0.024135464802384377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.938202857971191,
                "transform": {
                    "location": {
                        "x": -1540.6358642578125,
                        "y": 1610.9266357421875,
                        "z": 324.4798889160156
                    },
                    "rotation": {
                        "roll": 6.788827158743516e-05,
                        "pitch": 0.7467923760414124,
                        "yaw": 0.47416916489601135
                    }
                },
                "velocity": {
                    "x": 4.93760871887207,
                    "y": 0.04093165323138237,
                    "z": 0.06475656479597092
                },
                "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": 0.0797838494181633,
        "expert_target_speed": 6.02196487390855,
        "target_point": [
            16.50132864382973,
            -0.18848379078428595
        ],
        "target_point_next": [
            63.49312224338048,
            -1.0701529849091762
        ]
    },
    "400": {
        "acceleration": [
            0.013256072998046875,
            -0.024612843990325928,
            -0.002493094652891159
        ],
        "angular_velocity": [
            0.004719364922493696,
            -0.004104516468942165,
            -0.28856220841407776
        ],
        "forward_vector": [
            0.999662458896637,
            0.025879155844449997,
            -0.0022871471010148525
        ],
        "right_vector": [
            -0.02587955631315708,
            0.9996650815010071,
            -0.00014589264173991978
        ],
        "location": [
            -1582.969970703125,
            1610.371826171875,
            324.35302734375
        ],
        "rotation": [
            0.00835905410349369,
            -0.13104400038719177,
            1.4829357862472534
        ],
        "velocity": [
            4.905010223388672,
            0.11980269104242325,
            -0.010806417092680931
        ],
        "speed": 4.90647306894967,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.69446563720703,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1556.2789306640625,
                1610.7994384765625,
                324.3565979003906
            ],
            "velocity": [
                6.646502494812012,
                0.05446683242917061,
                0.027560042217373848
            ],
            "speed_kmh": 23.92841808404271,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.343016624450684,
                "transform": {
                    "location": {
                        "x": -1539.667724609375,
                        "y": 1607.241943359375,
                        "z": 324.49493408203125
                    },
                    "rotation": {
                        "roll": 0.008978600613772869,
                        "pitch": -0.7430698871612549,
                        "yaw": -179.43661499023438
                    }
                },
                "velocity": {
                    "x": -8.341950416564941,
                    "y": -0.07984289526939392,
                    "z": -0.10684817284345627
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048639297485352,
                "transform": {
                    "location": {
                        "x": -1580.4678955078125,
                        "y": 1606.8935546875,
                        "z": 324.3468017578125
                    },
                    "rotation": {
                        "roll": 0.0006681801751255989,
                        "pitch": 0.12825728952884674,
                        "yaw": -179.51490783691406
                    }
                },
                "velocity": {
                    "x": -8.048330307006836,
                    "y": -0.06813839077949524,
                    "z": 0.018236961215734482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011757850646973,
                "transform": {
                    "location": {
                        "x": -1623.6392822265625,
                        "y": 1606.5318603515625,
                        "z": 324.8186950683594
                    },
                    "rotation": {
                        "roll": 0.0007200174150057137,
                        "pitch": 1.097344994544983,
                        "yaw": -179.51522827148438
                    }
                },
                "velocity": {
                    "x": -8.010054588317871,
                    "y": -0.06769314408302307,
                    "z": 0.15071699023246765
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.281777858734131,
                "transform": {
                    "location": {
                        "x": -1614.275146484375,
                        "y": 1610.309326171875,
                        "z": 324.6501770019531
                    },
                    "rotation": {
                        "roll": -0.0005187991191633046,
                        "pitch": -1.02401602268219,
                        "yaw": 0.48955240845680237
                    }
                },
                "velocity": {
                    "x": 7.280245780944824,
                    "y": 0.060604698956012726,
                    "z": -0.1365058720111847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.423048257827759,
                "transform": {
                    "location": {
                        "x": -1599.6239013671875,
                        "y": 1610.42138671875,
                        "z": 324.43212890625
                    },
                    "rotation": {
                        "roll": 0.08569876849651337,
                        "pitch": -0.40164241194725037,
                        "yaw": 0.7136543393135071
                    }
                },
                "velocity": {
                    "x": 2.422883987426758,
                    "y": 0.015452553518116474,
                    "z": -0.023586677387356758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.646782875061035,
                "transform": {
                    "location": {
                        "x": -1556.2789306640625,
                        "y": 1610.7994384765625,
                        "z": 324.3565979003906
                    },
                    "rotation": {
                        "roll": 0.0017603527521714568,
                        "pitch": 0.4804218113422394,
                        "yaw": 0.5005748867988586
                    }
                },
                "velocity": {
                    "x": 6.646502494812012,
                    "y": 0.05446683242917061,
                    "z": 0.027560042217373848
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.823221683502197,
                "transform": {
                    "location": {
                        "x": -1539.3992919921875,
                        "y": 1610.93701171875,
                        "z": 324.4961242675781
                    },
                    "rotation": {
                        "roll": -0.0002746584650594741,
                        "pitch": 0.7396001815795898,
                        "yaw": 0.47662752866744995
                    }
                },
                "velocity": {
                    "x": 4.822665691375732,
                    "y": 0.04010619968175888,
                    "z": 0.06127314269542694
                },
                "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": 0.06262774020433426,
        "expert_target_speed": 6.028586160387736,
        "target_point": [
            15.274968045806892,
            -0.16684541575531925
        ],
        "target_point_next": [
            62.267834594539565,
            -0.9893414969916727
        ]
    },
    "405": {
        "acceleration": [
            0.06992340087890625,
            -0.021973103284835815,
            0.0007234513759613037
        ],
        "angular_velocity": [
            0.0009637228213250637,
            -0.018161002546548843,
            -0.2892160415649414
        ],
        "forward_vector": [
            0.9996944665908813,
            0.024619247764348984,
            -0.002214668085798621
        ],
        "right_vector": [
            -0.02461959980428219,
            0.9996969103813171,
            -0.00013174695777706802
        ],
        "location": [
            -1581.7421875,
            1610.4012451171875,
            324.35028076171875
        ],
        "rotation": [
            0.007548563182353973,
            -0.12689124047756195,
            1.4107249975204468
        ],
        "velocity": [
            4.919057369232178,
            0.11400135606527328,
            -0.010775404050946236
        ],
        "speed": 4.920378208124058,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.30000877380371,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1554.4453125,
                1610.814697265625,
                324.3634948730469
            ],
            "velocity": [
                7.770471572875977,
                0.06285202503204346,
                0.034796807914972305
            ],
            "speed_kmh": 27.97489320784905,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.152493476867676,
                "transform": {
                    "location": {
                        "x": -1541.7283935546875,
                        "y": 1607.222412109375,
                        "z": 324.46844482421875
                    },
                    "rotation": {
                        "roll": 0.0061884173192083836,
                        "pitch": -0.7541211247444153,
                        "yaw": -179.46014404296875
                    }
                },
                "velocity": {
                    "x": -8.151472091674805,
                    "y": -0.07553067803382874,
                    "z": -0.10460200905799866
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080992698669434,
                "transform": {
                    "location": {
                        "x": -1582.484375,
                        "y": 1606.876708984375,
                        "z": 324.3512878417969
                    },
                    "rotation": {
                        "roll": 0.00012862548464909196,
                        "pitch": 0.12893347442150116,
                        "yaw": -179.51947021484375
                    }
                },
                "velocity": {
                    "x": -8.080689430236816,
                    "y": -0.06749478727579117,
                    "z": 0.01856459490954876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027071952819824,
                "transform": {
                    "location": {
                        "x": -1625.6436767578125,
                        "y": 1606.5150146484375,
                        "z": 324.8562927246094
                    },
                    "rotation": {
                        "roll": 0.00026389604317955673,
                        "pitch": 1.0966824293136597,
                        "yaw": -179.51361083984375
                    }
                },
                "velocity": {
                    "x": -8.02537727355957,
                    "y": -0.06698206067085266,
                    "z": 0.1507595032453537
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.119954586029053,
                "transform": {
                    "location": {
                        "x": -1612.69384765625,
                        "y": 1610.3226318359375,
                        "z": 324.6198425292969
                    },
                    "rotation": {
                        "roll": -0.00021362317784223706,
                        "pitch": -0.8527490496635437,
                        "yaw": 0.49715539813041687
                    }
                },
                "velocity": {
                    "x": 5.119013786315918,
                    "y": 0.04351586103439331,
                    "z": -0.08796171098947525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.72605299949646,
                "transform": {
                    "location": {
                        "x": -1598.8629150390625,
                        "y": 1610.4273681640625,
                        "z": 324.4253845214844
                    },
                    "rotation": {
                        "roll": 0.05115440487861633,
                        "pitch": -0.3213808834552765,
                        "yaw": 0.7179316282272339
                    }
                },
                "velocity": {
                    "x": 3.725801706314087,
                    "y": 0.0257753673940897,
                    "z": -0.034742169082164764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.770803928375244,
                "transform": {
                    "location": {
                        "x": -1554.4453125,
                        "y": 1610.814697265625,
                        "z": 324.3634948730469
                    },
                    "rotation": {
                        "roll": 0.0011660675518214703,
                        "pitch": 0.5815222859382629,
                        "yaw": 0.4613383710384369
                    }
                },
                "velocity": {
                    "x": 7.770471572875977,
                    "y": 0.06285202503204346,
                    "z": 0.034796807914972305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.811490535736084,
                "transform": {
                    "location": {
                        "x": -1538.2083740234375,
                        "y": 1610.9468994140625,
                        "z": 324.511474609375
                    },
                    "rotation": {
                        "roll": -0.0001831052650231868,
                        "pitch": 0.738739550113678,
                        "yaw": 0.4786062240600586
                    }
                },
                "velocity": {
                    "x": 4.810921669006348,
                    "y": 0.040327392518520355,
                    "z": 0.06201173737645149
                },
                "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": 0.04403398185968399,
        "expert_target_speed": 6.051727426595461,
        "target_point": [
            14.047030869933328,
            -0.1467756099600297
        ],
        "target_point_next": [
            61.040896765693034,
            -0.9100412531017393
        ]
    },
    "410": {
        "acceleration": [
            0.08251190185546875,
            -0.022109299898147583,
            -0.00016709789633750916
        ],
        "angular_velocity": [
            -0.0050358944572508335,
            -0.009643408469855785,
            -0.2902829945087433
        ],
        "forward_vector": [
            0.9997249245643616,
            0.02335522696375847,
            -0.0021533947438001633
        ],
        "right_vector": [
            -0.023355567827820778,
            0.9997272491455078,
            -0.00013290331116877496
        ],
        "location": [
            -1580.510009765625,
            1610.4293212890625,
            324.34747314453125
        ],
        "rotation": [
            0.007614816073328257,
            -0.12338052690029144,
            1.3382806777954102
        ],
        "velocity": [
            4.93747091293335,
            0.10821156948804855,
            -0.01088261604309082
        ],
        "speed": 4.938656574396923,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.769859313964844,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1552.7430419921875,
                1610.8287353515625,
                324.3797607421875
            ],
            "velocity": [
                4.482158660888672,
                0.03634989261627197,
                0.032643165439367294
            ],
            "speed_kmh": 16.136729707536748,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.340188980102539,
                "transform": {
                    "location": {
                        "x": -1543.7916259765625,
                        "y": 1607.203369140625,
                        "z": 324.4441223144531
                    },
                    "rotation": {
                        "roll": 0.0025150824803858995,
                        "pitch": -0.644380509853363,
                        "yaw": -179.47586059570312
                    }
                },
                "velocity": {
                    "x": -8.339402198791504,
                    "y": -0.07619491219520569,
                    "z": -0.08554942905902863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046945571899414,
                "transform": {
                    "location": {
                        "x": -1584.5001220703125,
                        "y": 1606.8599853515625,
                        "z": 324.3558044433594
                    },
                    "rotation": {
                        "roll": -0.00012207027612021193,
                        "pitch": 0.12876954674720764,
                        "yaw": -179.518310546875
                    }
                },
                "velocity": {
                    "x": -8.046639442443848,
                    "y": -0.0677114725112915,
                    "z": 0.018399391323328018
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010986328125,
                "transform": {
                    "location": {
                        "x": -1627.6480712890625,
                        "y": 1606.4984130859375,
                        "z": 324.89471435546875
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 1.1334903240203857,
                        "yaw": -179.51898193359375
                    }
                },
                "velocity": {
                    "x": -8.00918960571289,
                    "y": -0.06730484962463379,
                    "z": 0.15571582317352295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7023062705993652,
                "transform": {
                    "location": {
                        "x": -1611.8892822265625,
                        "y": 1610.3345947265625,
                        "z": 324.60467529296875
                    },
                    "rotation": {
                        "roll": 0.029558194801211357,
                        "pitch": -0.6964948177337646,
                        "yaw": -0.9680479168891907
                    }
                },
                "velocity": {
                    "x": 1.7019429206848145,
                    "y": -0.02079612948000431,
                    "z": -0.02836402878165245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1571173667907715,
                "transform": {
                    "location": {
                        "x": -1597.7412109375,
                        "y": 1610.4385986328125,
                        "z": 324.4151306152344
                    },
                    "rotation": {
                        "roll": -0.01702880859375,
                        "pitch": -0.25656238198280334,
                        "yaw": 0.6569666266441345
                    }
                },
                "velocity": {
                    "x": 5.156700134277344,
                    "y": 0.05474293231964111,
                    "z": -0.03616149351000786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.482425212860107,
                "transform": {
                    "location": {
                        "x": -1552.7430419921875,
                        "y": 1610.8287353515625,
                        "z": 324.3797607421875
                    },
                    "rotation": {
                        "roll": 0.001520238583907485,
                        "pitch": -0.09134011715650558,
                        "yaw": 0.4087539613246918
                    }
                },
                "velocity": {
                    "x": 4.482158660888672,
                    "y": 0.03634989261627197,
                    "z": 0.032643165439367294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.964534282684326,
                "transform": {
                    "location": {
                        "x": -1536.973876953125,
                        "y": 1610.957275390625,
                        "z": 324.5273742675781
                    },
                    "rotation": {
                        "roll": 0.0003134309081360698,
                        "pitch": 0.7459317445755005,
                        "yaw": 0.47898370027542114
                    }
                },
                "velocity": {
                    "x": 4.9639458656311035,
                    "y": 0.04150673374533653,
                    "z": 0.06419561058282852
                },
                "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": 0.03066883236169815,
        "expert_target_speed": 6.055901956467827,
        "target_point": [
            12.814707857944084,
            -0.12830598144919986
        ],
        "target_point_next": [
            59.809501215163685,
            -0.8321551008465459
        ]
    },
    "415": {
        "acceleration": [
            0.11402130126953125,
            -0.02395913004875183,
            0.0035928748548030853
        ],
        "angular_velocity": [
            0.013564231805503368,
            -0.017571331933140755,
            -0.29175421595573425
        ],
        "forward_vector": [
            0.9997538924217224,
            0.022085750475525856,
            -0.0020911674946546555
        ],
        "right_vector": [
            -0.02208608388900757,
            0.9997560977935791,
            -0.00013610580936074257
        ],
        "location": [
            -1579.2720947265625,
            1610.4559326171875,
            324.3447265625
        ],
        "rotation": [
            0.007798306178301573,
            -0.1198151707649231,
            1.2655259370803833
        ],
        "velocity": [
            4.9647955894470215,
            0.10247533768415451,
            -0.010591144673526287
        ],
        "speed": 4.965853042512039,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.336523056030273,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1551.938232421875,
                1610.8349609375,
                324.38726806640625
            ],
            "velocity": [
                3.2269160747528076,
                0.025008628144860268,
                0.02610948495566845
            ],
            "speed_kmh": 11.617626977691696,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.146120071411133,
                "transform": {
                    "location": {
                        "x": -1545.852783203125,
                        "y": 1607.1851806640625,
                        "z": 324.4231262207031
                    },
                    "rotation": {
                        "roll": 0.0035550808534026146,
                        "pitch": -0.48708808422088623,
                        "yaw": -179.49053955078125
                    }
                },
                "velocity": {
                    "x": -8.145498275756836,
                    "y": -0.07077690958976746,
                    "z": -0.07154814898967743
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081053733825684,
                "transform": {
                    "location": {
                        "x": -1586.5162353515625,
                        "y": 1606.84326171875,
                        "z": 324.3603515625
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 0.12901543080806732,
                        "yaw": -179.51663208007812
                    }
                },
                "velocity": {
                    "x": -8.080738067626953,
                    "y": -0.06900257617235184,
                    "z": 0.018559016287326813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026692390441895,
                "transform": {
                    "location": {
                        "x": -1629.65283203125,
                        "y": 1606.4813232421875,
                        "z": 324.933837890625
                    },
                    "rotation": {
                        "roll": 0.000916618388146162,
                        "pitch": 1.1666781902313232,
                        "yaw": -179.514404296875
                    }
                },
                "velocity": {
                    "x": -8.024826049804688,
                    "y": -0.0664156824350357,
                    "z": 0.1598290652036667
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9452078342437744,
                "transform": {
                    "location": {
                        "x": -1611.7239990234375,
                        "y": 1610.3359375,
                        "z": 324.603515625
                    },
                    "rotation": {
                        "roll": 0.035631027072668076,
                        "pitch": -0.8838810920715332,
                        "yaw": -1.189453125
                    }
                },
                "velocity": {
                    "x": 0.9450468420982361,
                    "y": 0.006255188956856728,
                    "z": -0.01628580130636692
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.491268157958984,
                "transform": {
                    "location": {
                        "x": -1596.3880615234375,
                        "y": 1610.4525146484375,
                        "z": 324.40472412109375
                    },
                    "rotation": {
                        "roll": -0.004089354537427425,
                        "pitch": -0.3480527698993683,
                        "yaw": 0.6238025426864624
                    }
                },
                "velocity": {
                    "x": 5.490864276885986,
                    "y": 0.05617678165435791,
                    "z": -0.03575589135289192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.227118730545044,
                "transform": {
                    "location": {
                        "x": -1551.938232421875,
                        "y": 1610.8349609375,
                        "z": 324.38726806640625
                    },
                    "rotation": {
                        "roll": 0.0013363955076783895,
                        "pitch": -0.2340705692768097,
                        "yaw": 0.41231557726860046
                    }
                },
                "velocity": {
                    "x": 3.2269160747528076,
                    "y": 0.025008628144860268,
                    "z": 0.02610948495566845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.822005748748779,
                "transform": {
                    "location": {
                        "x": -1535.7635498046875,
                        "y": 1610.9674072265625,
                        "z": 324.54339599609375
                    },
                    "rotation": {
                        "roll": 6.357347592711449e-05,
                        "pitch": 0.7528097629547119,
                        "yaw": 0.4819931983947754
                    }
                },
                "velocity": {
                    "x": 4.821345806121826,
                    "y": 0.040557291358709335,
                    "z": 0.06872161477804184
                },
                "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": 0.014968829229474068,
        "expert_target_speed": 6.07243142393995,
        "target_point": [
            11.57665963360817,
            -0.11129801006342804
        ],
        "target_point_next": [
            58.572308862367024,
            -0.7554717739694381
        ]
    },
    "420": {
        "acceleration": [
            0.10923385620117188,
            -0.023496299982070923,
            0.0031395070254802704
        ],
        "angular_velocity": [
            -0.005423544440418482,
            0.001762618776410818,
            -0.2931532561779022
        ],
        "forward_vector": [
            0.9997813105583191,
            0.020809922367334366,
            -0.0020698292646557093
        ],
        "right_vector": [
            -0.020810239017009735,
            0.999783456325531,
            -0.0001318313297815621
        ],
        "location": [
            -1578.027099609375,
            1610.4810791015625,
            324.3419189453125
        ],
        "rotation": [
            0.007553394418209791,
            -0.11859256774187088,
            1.1924093961715698
        ],
        "velocity": [
            4.992682456970215,
            0.09669267386198044,
            -0.010989923030138016
        ],
        "speed": 4.993618686815877,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.910770416259766,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1551.1187744140625,
                1610.841064453125,
                324.3868713378906
            ],
            "velocity": [
                3.36268949508667,
                0.02674514427781105,
                0.026182468980550766
            ],
            "speed_kmh": 12.106432000539474,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.334301948547363,
                "transform": {
                    "location": {
                        "x": -1547.9136962890625,
                        "y": 1607.1669921875,
                        "z": 324.4060363769531
                    },
                    "rotation": {
                        "roll": 0.0009014384704641998,
                        "pitch": -0.4858381450176239,
                        "yaw": -179.494384765625
                    }
                },
                "velocity": {
                    "x": -8.333690643310547,
                    "y": -0.07353830337524414,
                    "z": -0.06908930838108063
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046514511108398,
                "transform": {
                    "location": {
                        "x": -1588.5321044921875,
                        "y": 1606.826416015625,
                        "z": 324.36492919921875
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": 0.13037464022636414,
                        "yaw": -179.51632690429688
                    }
                },
                "velocity": {
                    "x": -8.046195030212402,
                    "y": -0.06860087066888809,
                    "z": 0.020836714655160904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010050773620605,
                "transform": {
                    "location": {
                        "x": -1631.656494140625,
                        "y": 1606.464599609375,
                        "z": 324.9738464355469
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 1.1655648946762085,
                        "yaw": -179.5167694091797
                    }
                },
                "velocity": {
                    "x": -8.00811767578125,
                    "y": -0.06766361743211746,
                    "z": 0.16242866218090057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8514491319656372,
                "transform": {
                    "location": {
                        "x": -1611.36962890625,
                        "y": 1610.336181640625,
                        "z": 324.59881591796875
                    },
                    "rotation": {
                        "roll": 0.02979276329278946,
                        "pitch": -1.0602433681488037,
                        "yaw": -0.9048460125923157
                    }
                },
                "velocity": {
                    "x": 1.8511037826538086,
                    "y": 0.015335097908973694,
                    "z": -0.03230757266283035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.352873802185059,
                "transform": {
                    "location": {
                        "x": -1594.828369140625,
                        "y": 1610.46728515625,
                        "z": 324.3949890136719
                    },
                    "rotation": {
                        "roll": 0.001886978861875832,
                        "pitch": -0.042968716472387314,
                        "yaw": 0.5056635737419128
                    }
                },
                "velocity": {
                    "x": 7.352414608001709,
                    "y": 0.0661303922533989,
                    "z": -0.0488022156059742
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3628978729248047,
                "transform": {
                    "location": {
                        "x": -1551.1187744140625,
                        "y": 1610.841064453125,
                        "z": 324.3868713378906
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.5839470028877258,
                        "yaw": 0.426315575838089
                    }
                },
                "velocity": {
                    "x": 3.36268949508667,
                    "y": 0.02674514427781105,
                    "z": 0.026182468980550766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.996554851531982,
                "transform": {
                    "location": {
                        "x": -1534.5184326171875,
                        "y": 1610.977783203125,
                        "z": 324.5609436035156
                    },
                    "rotation": {
                        "roll": -3.0517610866809264e-05,
                        "pitch": 0.8202441930770874,
                        "yaw": 0.5100681781768799
                    }
                },
                "velocity": {
                    "x": 4.995900630950928,
                    "y": 0.04232649877667427,
                    "z": 0.06890415400266647
                },
                "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": 0.005332698579877615,
        "expert_target_speed": 6.096984814303916,
        "target_point": [
            10.331543428499936,
            -0.09575725314583307
        ],
        "target_point_next": [
            57.32797644329684,
            -0.6799576950795432
        ]
    },
    "425": {
        "acceleration": [
            0.008392333984375,
            -0.027770251035690308,
            0.0802575945854187
        ],
        "angular_velocity": [
            -0.015024593099951744,
            0.02060878463089466,
            -0.507465124130249
        ],
        "forward_vector": [
            0.9998071789741516,
            0.019519267603754997,
            -0.0021533947438001633
        ],
        "right_vector": [
            -0.01951962150633335,
            0.9998095035552979,
            -0.00014346071111503989
        ],
        "location": [
            -1576.77783203125,
            1610.504638671875,
            324.33935546875
        ],
        "rotation": [
            0.008219712413847446,
            -0.12338052690029144,
            1.1184452772140503
        ],
        "velocity": [
            4.998185157775879,
            0.0903516635298729,
            -0.00962250679731369
        ],
        "speed": 4.999001729797031,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.596393585205078,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1550.1837158203125,
                1610.848388671875,
                324.3934631347656
            ],
            "velocity": [
                4.158588409423828,
                0.033342380076646805,
                0.03653575852513313
            ],
            "speed_kmh": 14.97197721040908,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.143677711486816,
                "transform": {
                    "location": {
                        "x": -1549.9720458984375,
                        "y": 1607.1490478515625,
                        "z": 324.3887939453125
                    },
                    "rotation": {
                        "roll": 0.0018970547243952751,
                        "pitch": -0.5000927448272705,
                        "yaw": -179.5019989013672
                    }
                },
                "velocity": {
                    "x": -8.143080711364746,
                    "y": -0.07068471610546112,
                    "z": -0.06870807707309723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079212188720703,
                "transform": {
                    "location": {
                        "x": -1590.5484619140625,
                        "y": 1606.809326171875,
                        "z": 324.3713073730469
                    },
                    "rotation": {
                        "roll": 3.3076041290769354e-05,
                        "pitch": 0.2155197709798813,
                        "yaw": -179.51492309570312
                    }
                },
                "velocity": {
                    "x": -8.078866004943848,
                    "y": -0.06839071959257126,
                    "z": 0.030259903520345688
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025775909423828,
                "transform": {
                    "location": {
                        "x": -1633.6614990234375,
                        "y": 1606.44775390625,
                        "z": 325.0157775878906
                    },
                    "rotation": {
                        "roll": -0.0005493159987963736,
                        "pitch": 1.25398850440979,
                        "yaw": -179.51283264160156
                    }
                },
                "velocity": {
                    "x": -8.023661613464355,
                    "y": -0.06825289875268936,
                    "z": 0.17112380266189575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.784349203109741,
                "transform": {
                    "location": {
                        "x": -1610.78466796875,
                        "y": 1610.33837890625,
                        "z": 324.588623046875
                    },
                    "rotation": {
                        "roll": 0.022299952805042267,
                        "pitch": -1.055052399635315,
                        "yaw": -0.5541686415672302
                    }
                },
                "velocity": {
                    "x": 2.7838215827941895,
                    "y": 0.025126585736870766,
                    "z": -0.048031825572252274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.530155658721924,
                "transform": {
                    "location": {
                        "x": -1592.9141845703125,
                        "y": 1610.4844970703125,
                        "z": 324.384521484375
                    },
                    "rotation": {
                        "roll": 5.211037157337728e-11,
                        "pitch": -0.14379596710205078,
                        "yaw": 0.5316943526268005
                    }
                },
                "velocity": {
                    "x": 7.529796123504639,
                    "y": 0.06718888133764267,
                    "z": -0.030056223273277283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.1588826179504395,
                "transform": {
                    "location": {
                        "x": -1550.1837158203125,
                        "y": 1610.848388671875,
                        "z": 324.3934631347656
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.74787837266922,
                        "yaw": 0.4384714961051941
                    }
                },
                "velocity": {
                    "x": 4.158588409423828,
                    "y": 0.033342380076646805,
                    "z": 0.03653575852513313
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.901413917541504,
                "transform": {
                    "location": {
                        "x": -1533.2752685546875,
                        "y": 1610.9884033203125,
                        "z": 324.578125
                    },
                    "rotation": {
                        "roll": 3.877567723975517e-05,
                        "pitch": 0.8663889765739441,
                        "yaw": 0.5226672291755676
                    }
                },
                "velocity": {
                    "x": 4.90073299407959,
                    "y": 0.04200001806020737,
                    "z": 0.0700744241476059
                },
                "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": -0.0057899001985788345,
        "expert_target_speed": 6.104490093914564,
        "target_point": [
            9.0821690002196,
            -0.08159022957118017
        ],
        "target_point_next": [
            56.079317010306646,
            -0.6051216886253366
        ]
    },
    "430": {
        "acceleration": [
            -0.1532268524169922,
            -0.25032371282577515,
            -0.3694692552089691
        ],
        "angular_velocity": [
            1.914443016052246,
            0.8094009757041931,
            2.637315511703491
        ],
        "forward_vector": [
            0.9993789792060852,
            0.03517020121216774,
            -0.002191779902204871
        ],
        "right_vector": [
            -0.03516608849167824,
            0.9993796944618225,
            0.001887642894871533
        ],
        "location": [
            -1575.5302734375,
            1610.5577392578125,
            324.33648681640625
        ],
        "rotation": [
            -0.108154296875,
            -0.1255798488855362,
            2.0155246257781982
        ],
        "velocity": [
            4.9785356521606445,
            0.24432598054409027,
            -0.026487665250897408
        ],
        "speed": 4.984527302022073,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.52485466003418,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1549.0072021484375,
                1610.8577880859375,
                324.4040222167969
            ],
            "velocity": [
                5.041316509246826,
                0.039541758596897125,
                0.04331311210989952
            ],
            "speed_kmh": 18.14996749107133,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.331445693969727,
                "transform": {
                    "location": {
                        "x": -1552.032470703125,
                        "y": 1607.13134765625,
                        "z": 324.3717956542969
                    },
                    "rotation": {
                        "roll": 0.0024136812426149845,
                        "pitch": -0.46633797883987427,
                        "yaw": -179.5087127685547
                    }
                },
                "velocity": {
                    "x": -8.33096694946289,
                    "y": -0.06972046941518784,
                    "z": -0.05579371377825737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047286033630371,
                "transform": {
                    "location": {
                        "x": -1592.5643310546875,
                        "y": 1606.79248046875,
                        "z": 324.37908935546875
                    },
                    "rotation": {
                        "roll": 0.00014428836584556848,
                        "pitch": 0.25703367590904236,
                        "yaw": -179.51718139648438
                    }
                },
                "velocity": {
                    "x": -8.046920776367188,
                    "y": -0.06757965683937073,
                    "z": 0.036128588020801544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010310173034668,
                "transform": {
                    "location": {
                        "x": -1635.665771484375,
                        "y": 1606.4312744140625,
                        "z": 325.05914306640625
                    },
                    "rotation": {
                        "roll": 0.00018705824913922697,
                        "pitch": 1.2988150119781494,
                        "yaw": -179.51576232910156
                    }
                },
                "velocity": {
                    "x": -8.008058547973633,
                    "y": -0.06769507378339767,
                    "z": 0.17743083834648132
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8367161750793457,
                "transform": {
                    "location": {
                        "x": -1609.9578857421875,
                        "y": 1610.3427734375,
                        "z": 324.57452392578125
                    },
                    "rotation": {
                        "roll": 0.014972730539739132,
                        "pitch": -1.0503805875778198,
                        "yaw": -0.199493408203125
                    }
                },
                "velocity": {
                    "x": 3.836033821105957,
                    "y": 0.033777691423892975,
                    "z": -0.06399602442979813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.507945537567139,
                "transform": {
                    "location": {
                        "x": -1591.1658935546875,
                        "y": 1610.500244140625,
                        "z": 324.3772888183594
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.34124305844306946,
                        "yaw": 0.5012178421020508
                    }
                },
                "velocity": {
                    "x": 6.507640361785889,
                    "y": 0.05807071551680565,
                    "z": -0.024502625688910484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.041657447814941,
                "transform": {
                    "location": {
                        "x": -1549.0072021484375,
                        "y": 1610.8577880859375,
                        "z": 324.4040222167969
                    },
                    "rotation": {
                        "roll": 0.00015835236990824342,
                        "pitch": 0.7346482872962952,
                        "yaw": 0.4479856789112091
                    }
                },
                "velocity": {
                    "x": 5.041316509246826,
                    "y": 0.039541758596897125,
                    "z": 0.04331311210989952
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.07394552230835,
                "transform": {
                    "location": {
                        "x": -1532.03466796875,
                        "y": 1610.9993896484375,
                        "z": 324.596923828125
                    },
                    "rotation": {
                        "roll": 0.001061319257132709,
                        "pitch": 0.8742778301239014,
                        "yaw": 0.507557213306427
                    }
                },
                "velocity": {
                    "x": 5.0731201171875,
                    "y": 0.04320724308490753,
                    "z": 0.08068214356899261
                },
                "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": -0.10144937038421631,
        "expert_target_speed": 6.095078775043461,
        "target_point": [
            7.831124085250932,
            -0.23296424460907897
        ],
        "target_point_next": [
            54.81431520204633,
            -1.492233379196847
        ]
    },
    "435": {
        "acceleration": [
            -0.28128623962402344,
            -0.0992441177368164,
            0.009266287088394165
        ],
        "angular_velocity": [
            -0.3066408038139343,
            0.035045623779296875,
            5.947338104248047
        ],
        "forward_vector": [
            0.9982025623321533,
            0.05987105518579483,
            -0.002643939573317766
        ],
        "right_vector": [
            -0.05986051633954048,
            0.9981990456581116,
            0.003899376140907407
        ],
        "location": [
            -1574.2958984375,
            1610.6453857421875,
            324.33355712890625
        ],
        "rotation": [
            -0.22341914474964142,
            -0.15148675441741943,
            3.4324235916137695
        ],
        "velocity": [
            4.899710655212402,
            0.43964433670043945,
            -0.010649222880601883
        ],
        "speed": 4.919395455500068,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.589317321777344,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1547.7076416015625,
                1610.867919921875,
                324.4165954589844
            ],
            "velocity": [
                5.3761820793151855,
                0.04429652914404869,
                0.04573186859488487
            ],
            "speed_kmh": 19.3556126195424,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.13948917388916,
                "transform": {
                    "location": {
                        "x": -1554.091796875,
                        "y": 1607.11376953125,
                        "z": 324.3587951660156
                    },
                    "rotation": {
                        "roll": 0.0008624995825812221,
                        "pitch": -0.2801811695098877,
                        "yaw": -179.5164794921875
                    }
                },
                "velocity": {
                    "x": -8.139057159423828,
                    "y": -0.0686400979757309,
                    "z": -0.04809227213263512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07634449005127,
                "transform": {
                    "location": {
                        "x": -1594.580322265625,
                        "y": 1606.7757568359375,
                        "z": 324.3887023925781
                    },
                    "rotation": {
                        "roll": -0.00018310558516532183,
                        "pitch": 0.2808232009410858,
                        "yaw": -179.51856994628906
                    }
                },
                "velocity": {
                    "x": -8.075885772705078,
                    "y": -0.06787679344415665,
                    "z": 0.05288860201835632
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024043083190918,
                "transform": {
                    "location": {
                        "x": -1637.6697998046875,
                        "y": 1606.4146728515625,
                        "z": 325.10394287109375
                    },
                    "rotation": {
                        "roll": -0.00024414106155745685,
                        "pitch": 1.307188868522644,
                        "yaw": -179.51576232910156
                    }
                },
                "velocity": {
                    "x": -8.021610260009766,
                    "y": -0.06778980046510696,
                    "z": 0.18557259440422058
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.968508720397949,
                "transform": {
                    "location": {
                        "x": -1608.849365234375,
                        "y": 1610.3502197265625,
                        "z": 324.55621337890625
                    },
                    "rotation": {
                        "roll": 0.009147679433226585,
                        "pitch": -1.064450740814209,
                        "yaw": 0.10031947493553162
                    }
                },
                "velocity": {
                    "x": 4.967621803283691,
                    "y": 0.04447849467396736,
                    "z": -0.08267103880643845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4651386737823486,
                "transform": {
                    "location": {
                        "x": -1590.0655517578125,
                        "y": 1610.5103759765625,
                        "z": 324.3728942871094
                    },
                    "rotation": {
                        "roll": -0.003875732421875,
                        "pitch": -0.7431586980819702,
                        "yaw": 0.7603514194488525
                    }
                },
                "velocity": {
                    "x": 2.4650230407714844,
                    "y": 0.02252338081598282,
                    "z": -0.00793829932808876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.376558780670166,
                "transform": {
                    "location": {
                        "x": -1547.7076416015625,
                        "y": 1610.867919921875,
                        "z": 324.4165954589844
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": 0.5848895311355591,
                        "yaw": 0.45658665895462036
                    }
                },
                "velocity": {
                    "x": 5.3761820793151855,
                    "y": 0.04429652914404869,
                    "z": 0.04573186859488487
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.9564995765686035,
                "transform": {
                    "location": {
                        "x": -1530.785400390625,
                        "y": 1611.0096435546875,
                        "z": 324.61578369140625
                    },
                    "rotation": {
                        "roll": 0.0011865734122693539,
                        "pitch": 0.8662318587303162,
                        "yaw": 0.5510959029197693
                    }
                },
                "velocity": {
                    "x": 4.955753803253174,
                    "y": 0.04256655275821686,
                    "z": 0.07468707859516144
                },
                "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": -0.24035044014453888,
        "expert_target_speed": 6.033526490456304,
        "target_point": [
            53.523248353781554,
            -2.86076118685755
        ],
        "target_point_next": [
            53.523248353781554,
            -2.86076118685755
        ]
    },
    "440": {
        "acceleration": [
            -0.200347900390625,
            0.0016474723815917969,
            -0.035260580480098724
        ],
        "angular_velocity": [
            -0.889375627040863,
            0.31132403016090393,
            4.9283928871154785
        ],
        "forward_vector": [
            0.996491014957428,
            0.08361133188009262,
            -0.0038418672047555447
        ],
        "right_vector": [
            -0.08360769599676132,
            0.996498167514801,
            0.0010972137097269297
        ],
        "location": [
            -1573.0809326171875,
            1610.75830078125,
            324.33245849609375
        ],
        "rotation": [
            -0.0628661960363388,
            -0.2201233208179474,
            4.796211242675781
        ],
        "velocity": [
            4.831142425537109,
            0.5136125683784485,
            -0.0019158362410962582
        ],
        "speed": 4.858367524819514,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.792802810668945,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1546.28857421875,
                1610.879150390625,
                324.4283447265625
            ],
            "velocity": [
                6.227455139160156,
                0.052052661776542664,
                0.053039662539958954
            ],
            "speed_kmh": 22.420434735652606,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.3230619430542,
                "transform": {
                    "location": {
                        "x": -1556.1507568359375,
                        "y": 1607.0963134765625,
                        "z": 324.3493347167969
                    },
                    "rotation": {
                        "roll": 0.0009631377179175615,
                        "pitch": -0.2282990664243698,
                        "yaw": -179.5196533203125
                    }
                },
                "velocity": {
                    "x": -8.322705268859863,
                    "y": -0.0697222501039505,
                    "z": -0.03262397646903992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046531677246094,
                "transform": {
                    "location": {
                        "x": -1596.59619140625,
                        "y": 1606.759033203125,
                        "z": 324.4017639160156
                    },
                    "rotation": {
                        "roll": -0.0002746583486441523,
                        "pitch": 0.46454164385795593,
                        "yaw": -179.51583862304688
                    }
                },
                "velocity": {
                    "x": -8.046034812927246,
                    "y": -0.0679660364985466,
                    "z": 0.05803973972797394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00960636138916,
                "transform": {
                    "location": {
                        "x": -1639.673828125,
                        "y": 1606.3974609375,
                        "z": 325.1505432128906
                    },
                    "rotation": {
                        "roll": 0.00043417460983619094,
                        "pitch": 1.3997037410736084,
                        "yaw": -179.5108184814453
                    }
                },
                "velocity": {
                    "x": -8.007121086120605,
                    "y": -0.06738125532865524,
                    "z": 0.1877807229757309
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.530756950378418,
                "transform": {
                    "location": {
                        "x": -1607.5364990234375,
                        "y": 1610.3604736328125,
                        "z": 324.53448486328125
                    },
                    "rotation": {
                        "roll": 0.003990232013165951,
                        "pitch": -0.9999054670333862,
                        "yaw": 0.2893785238265991
                    }
                },
                "velocity": {
                    "x": 5.5299248695373535,
                    "y": 0.05119625851511955,
                    "z": -0.08113237470388412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7079503536224365,
                "transform": {
                    "location": {
                        "x": -1589.306884765625,
                        "y": 1610.517822265625,
                        "z": 324.3712158203125
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.17187486588954926,
                        "yaw": 0.6732735633850098
                    }
                },
                "velocity": {
                    "x": 3.7077534198760986,
                    "y": 0.036321163177490234,
                    "z": -0.011908207088708878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.227898120880127,
                "transform": {
                    "location": {
                        "x": -1546.28857421875,
                        "y": 1610.879150390625,
                        "z": 324.4283447265625
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.6237396597862244,
                        "yaw": 0.4653911292552948
                    }
                },
                "velocity": {
                    "x": 6.227455139160156,
                    "y": 0.052052661776542664,
                    "z": 0.053039662539958954
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.841558456420898,
                "transform": {
                    "location": {
                        "x": -1529.5693359375,
                        "y": 1611.0206298828125,
                        "z": 324.63421630859375
                    },
                    "rotation": {
                        "roll": 0.0014404157409444451,
                        "pitch": 0.862994372844696,
                        "yaw": 0.5242419242858887
                    }
                },
                "velocity": {
                    "x": 4.840832710266113,
                    "y": 0.041163280606269836,
                    "z": 0.07303378731012344
                },
                "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": -0.3943970501422882,
        "expert_target_speed": 5.9796646809868435,
        "target_point": [
            52.2198475836283,
            -4.144752700658109
        ],
        "target_point_next": [
            52.2198475836283,
            -4.144752700658109
        ]
    },
    "445": {
        "acceleration": [
            0.09875297546386719,
            -0.43030500411987305,
            0.08072300255298615
        ],
        "angular_velocity": [
            -0.5349268317222595,
            -0.42259135842323303,
            -2.020228862762451
        ],
        "forward_vector": [
            0.9958498477935791,
            0.09098346531391144,
            -0.002265213057398796
        ],
        "right_vector": [
            -0.09098481386899948,
            0.9958521723747253,
            -0.0004977791686542332
        ],
        "location": [
            -1571.8778076171875,
            1610.8751220703125,
            324.32861328125
        ],
        "rotation": [
            0.028520718216896057,
            -0.12978725135326385,
            5.220201015472412
        ],
        "velocity": [
            4.808724880218506,
            0.39739954471588135,
            -0.00814056396484375
        ],
        "speed": 4.825117757295968,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.35693359375,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1544.5211181640625,
                1610.894287109375,
                324.4426574707031
            ],
            "velocity": [
                7.456546306610107,
                0.061283957213163376,
                0.08018350601196289
            ],
            "speed_kmh": 26.846025264665702,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.879903316497803,
                "transform": {
                    "location": {
                        "x": -1557.864013671875,
                        "y": 1607.081787109375,
                        "z": 324.3450012207031
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": -0.8576599955558777,
                        "yaw": -179.56362915039062
                    }
                },
                "velocity": {
                    "x": -5.879641056060791,
                    "y": -0.05028633028268814,
                    "z": -0.0235974732786417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078112602233887,
                "transform": {
                    "location": {
                        "x": -1598.6121826171875,
                        "y": 1606.742431640625,
                        "z": 324.41815185546875
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": 0.49766805768013,
                        "yaw": -179.51559448242188
                    }
                },
                "velocity": {
                    "x": -8.077515602111816,
                    "y": -0.06826582551002502,
                    "z": 0.07051005959510803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024989128112793,
                "transform": {
                    "location": {
                        "x": -1641.6781005859375,
                        "y": 1606.380859375,
                        "z": 325.1986999511719
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": 1.4253989458084106,
                        "yaw": -179.51834106445312
                    }
                },
                "velocity": {
                    "x": -8.022308349609375,
                    "y": -0.06854639202356339,
                    "z": 0.19576306641101837
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.764331817626953,
                "transform": {
                    "location": {
                        "x": -1606.099609375,
                        "y": 1610.3724365234375,
                        "z": 324.5137023925781
                    },
                    "rotation": {
                        "roll": 0.0009112758561968803,
                        "pitch": -0.8553991913795471,
                        "yaw": 0.411826491355896
                    }
                },
                "velocity": {
                    "x": 5.763578414916992,
                    "y": 0.05215732753276825,
                    "z": -0.07721155136823654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.968634605407715,
                "transform": {
                    "location": {
                        "x": -1588.1954345703125,
                        "y": 1610.5281982421875,
                        "z": 324.3680725097656
                    },
                    "rotation": {
                        "roll": 0.0015400563133880496,
                        "pitch": 0.0362204909324646,
                        "yaw": 0.5917079448699951
                    }
                },
                "velocity": {
                    "x": 4.968406677246094,
                    "y": 0.04609820246696472,
                    "z": -0.011840476654469967
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.457229137420654,
                "transform": {
                    "location": {
                        "x": -1544.5211181640625,
                        "y": 1610.894287109375,
                        "z": 324.4426574707031
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": 0.8738270401954651,
                        "yaw": 0.4447711706161499
                    }
                },
                "velocity": {
                    "x": 7.456546306610107,
                    "y": 0.061283957213163376,
                    "z": 0.08018350601196289
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.883965969085693,
                "transform": {
                    "location": {
                        "x": -1528.3428955078125,
                        "y": 1611.031494140625,
                        "z": 324.6527099609375
                    },
                    "rotation": {
                        "roll": 0.0005636837449856102,
                        "pitch": 0.8670992851257324,
                        "yaw": 0.5017728805541992
                    }
                },
                "velocity": {
                    "x": 4.883225440979004,
                    "y": 0.042167048901319504,
                    "z": 0.07387607544660568
                },
                "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": -0.4953625500202179,
        "expert_target_speed": 5.956606198610475,
        "target_point": [
            50.97898302836157,
            -4.537936454161453
        ],
        "target_point_next": [
            50.97898302836157,
            -4.537936454161453
        ]
    },
    "450": {
        "acceleration": [
            0.15331268310546875,
            -0.29152393341064453,
            -0.003874395042657852
        ],
        "angular_velocity": [
            -0.05480063334107399,
            -0.2804144024848938,
            -2.984461784362793
        ],
        "forward_vector": [
            0.9968347549438477,
            0.07949654012918472,
            -0.0008740423363633454
        ],
        "right_vector": [
            -0.07949786633253098,
            0.9968337416648865,
            -0.001597931026481092
        ],
        "location": [
            -1570.67041015625,
            1610.9649658203125,
            324.3271484375
        ],
        "rotation": [
            0.09155477583408356,
            -0.050078943371772766,
            4.559628963470459
        ],
        "velocity": [
            4.845404148101807,
            0.3136044442653656,
            -0.004292335361242294
        ],
        "speed": 4.8555421021658525,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.43646240234375,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1543.234375,
                1610.8995361328125,
                324.46588134765625
            ],
            "velocity": [
                3.1921825408935547,
                0.01985921710729599,
                0.03911679983139038
            ],
            "speed_kmh": 11.492942285353546,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.642770290374756,
                "transform": {
                    "location": {
                        "x": -1559.28857421875,
                        "y": 1607.0699462890625,
                        "z": 324.338134765625
                    },
                    "rotation": {
                        "roll": 0.0018287699203938246,
                        "pitch": -0.5934478044509888,
                        "yaw": -179.56930541992188
                    }
                },
                "velocity": {
                    "x": -5.642546653747559,
                    "y": -0.0444924496114254,
                    "z": -0.023269619792699814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03961181640625,
                "transform": {
                    "location": {
                        "x": -1600.626953125,
                        "y": 1606.7259521484375,
                        "z": 324.4371337890625
                    },
                    "rotation": {
                        "roll": 0.0005672259139828384,
                        "pitch": 0.5626504421234131,
                        "yaw": -179.51559448242188
                    }
                },
                "velocity": {
                    "x": -8.038803100585938,
                    "y": -0.06797580420970917,
                    "z": 0.09154906868934631
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1643.7440185546875,
                        "y": 1606.4154052734375,
                        "z": 325.2522888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.4764546155929565,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8454155921936035,
                "transform": {
                    "location": {
                        "x": -1604.33056640625,
                        "y": 1610.3878173828125,
                        "z": 324.48974609375
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.8443889021873474,
                        "yaw": 0.4945603013038635
                    }
                },
                "velocity": {
                    "x": 7.84445858001709,
                    "y": 0.07010377198457718,
                    "z": -0.10050719976425171
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.492843151092529,
                "transform": {
                    "location": {
                        "x": -1587.0172119140625,
                        "y": 1610.538818359375,
                        "z": 324.3653259277344
                    },
                    "rotation": {
                        "roll": 0.0009098516893573105,
                        "pitch": -0.13846158981323242,
                        "yaw": 0.5389187335968018
                    }
                },
                "velocity": {
                    "x": 4.492658615112305,
                    "y": 0.03956015408039093,
                    "z": -0.009550151415169239
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.192483901977539,
                "transform": {
                    "location": {
                        "x": -1543.234375,
                        "y": 1610.8995361328125,
                        "z": 324.46588134765625
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.14669878780841827,
                        "yaw": 0.9906105399131775
                    }
                },
                "velocity": {
                    "x": 3.1921825408935547,
                    "y": 0.01985921710729599,
                    "z": 0.03911679983139038
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.772374153137207,
                "transform": {
                    "location": {
                        "x": -1527.140869140625,
                        "y": 1611.0418701171875,
                        "z": 324.6708984375
                    },
                    "rotation": {
                        "roll": 0.0008530181366950274,
                        "pitch": 0.8616829514503479,
                        "yaw": 0.4912942945957184
                    }
                },
                "velocity": {
                    "x": 4.771669864654541,
                    "y": 0.03977273777127266,
                    "z": 0.07169189304113388
                },
                "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": -0.5288703441619873,
        "expert_target_speed": 5.964911679851055,
        "target_point": [
            49.81719409980106,
            -3.943476158289203
        ],
        "target_point_next": [
            49.81719409980106,
            -3.943476158289203
        ]
    },
    "455": {
        "acceleration": [
            0.13869285583496094,
            -0.24311065673828125,
            0.046820446848869324
        ],
        "angular_velocity": [
            -0.028951609507203102,
            -0.12786345183849335,
            -3.0214667320251465
        ],
        "forward_vector": [
            0.9977932572364807,
            0.06639770418405533,
            0.00019037722086068243
        ],
        "right_vector": [
            -0.0663972869515419,
            0.9977918267250061,
            -0.001688400050625205
        ],
        "location": [
            -1569.453857421875,
            1611.0377197265625,
            324.32586669921875
        ],
        "rotation": [
            0.09673824161291122,
            0.010907811112701893,
            3.8071088790893555
        ],
        "velocity": [
            4.881868362426758,
            0.25045937299728394,
            -0.002543745096772909
        ],
        "speed": 4.888288924110921,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.09908676147461,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1542.35546875,
                1610.9085693359375,
                324.4714050292969
            ],
            "velocity": [
                3.617387294769287,
                0.0358065590262413,
                0.04214403033256531
            ],
            "speed_kmh": 13.024115936922177,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.18915319442749,
                "transform": {
                    "location": {
                        "x": -1560.8984375,
                        "y": 1607.0570068359375,
                        "z": 324.3293762207031
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.050434112548828125,
                        "yaw": -179.49273681640625
                    }
                },
                "velocity": {
                    "x": -7.188873767852783,
                    "y": -0.06029786914587021,
                    "z": -0.01948421820998192
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077266693115234,
                "transform": {
                    "location": {
                        "x": -1602.642822265625,
                        "y": 1606.709228515625,
                        "z": 324.4588928222656
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.7372300624847412,
                        "yaw": -179.51564025878906
                    }
                },
                "velocity": {
                    "x": -8.076398849487305,
                    "y": -0.0682569071650505,
                    "z": 0.0967024564743042
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1645.82568359375,
                        "y": 1606.4376220703125,
                        "z": 325.3070068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5876773595809937,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.952256202697754,
                "transform": {
                    "location": {
                        "x": -1602.3046875,
                        "y": 1610.40576171875,
                        "z": 324.4638366699219
                    },
                    "rotation": {
                        "roll": -0.00015258770145010203,
                        "pitch": -0.7529326677322388,
                        "yaw": 0.5070255398750305
                    }
                },
                "velocity": {
                    "x": 7.951334476470947,
                    "y": 0.07074617594480515,
                    "z": -0.09824784845113754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.820781230926514,
                "transform": {
                    "location": {
                        "x": -1585.8310546875,
                        "y": 1610.549072265625,
                        "z": 324.36279296875
                    },
                    "rotation": {
                        "roll": 0.000700844859238714,
                        "pitch": -0.09548603743314743,
                        "yaw": 0.5100615620613098
                    }
                },
                "velocity": {
                    "x": 4.820591449737549,
                    "y": 0.04140054062008858,
                    "z": -0.01069561019539833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.617810010910034,
                "transform": {
                    "location": {
                        "x": -1542.35546875,
                        "y": 1610.9085693359375,
                        "z": 324.4714050292969
                    },
                    "rotation": {
                        "roll": -0.0036315915640443563,
                        "pitch": 0.4804832935333252,
                        "yaw": 0.8673965334892273
                    }
                },
                "velocity": {
                    "x": 3.617387294769287,
                    "y": 0.0358065590262413,
                    "z": 0.04214403033256531
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.103840351104736,
                "transform": {
                    "location": {
                        "x": -1525.9012451171875,
                        "y": 1611.0521240234375,
                        "z": 324.68975830078125
                    },
                    "rotation": {
                        "roll": 8.462225378025323e-05,
                        "pitch": 0.8750564455986023,
                        "yaw": 0.4863608181476593
                    }
                },
                "velocity": {
                    "x": 5.103066444396973,
                    "y": 0.04181496053934097,
                    "z": 0.07843499630689621
                },
                "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": -0.5656020045280457,
        "expert_target_speed": 5.996818712403959,
        "target_point": [
            48.64599033958491,
            -3.2806786785332083
        ],
        "target_point_next": [
            48.64599033958491,
            -3.2806786785332083
        ]
    },
    "460": {
        "acceleration": [
            0.1276874542236328,
            -0.25520265102386475,
            0.007371138781309128
        ],
        "angular_velocity": [
            0.007023767568171024,
            0.010836193338036537,
            -3.03782320022583
        ],
        "forward_vector": [
            0.9985837340354919,
            0.053201597183942795,
            0.0002467632293701172
        ],
        "right_vector": [
            -0.053201109170913696,
            0.9985823631286621,
            -0.0016969423741102219
        ],
        "location": [
            -1568.2291259765625,
            1611.094970703125,
            324.32574462890625
        ],
        "rotation": [
            0.09722769260406494,
            0.01413849089294672,
            3.0496671199798584
        ],
        "velocity": [
            4.915238857269287,
            0.18695169687271118,
            0.0007919311174191535
        ],
        "speed": 4.918792937395665,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.78007698059082,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1541.4500732421875,
                1610.918212890625,
                324.47930908203125
            ],
            "velocity": [
                3.7142183780670166,
                0.0349944569170475,
                0.04837603494524956
            ],
            "speed_kmh": 13.372913663265225,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -1520.665283203125,
                        "y": 1607.4945068359375,
                        "z": 324.8572082519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8650434017181396,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 3.527199865516195e-08,
                    "y": 2.956690725586242e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.456389427185059,
                "transform": {
                    "location": {
                        "x": -1562.878662109375,
                        "y": 1607.0401611328125,
                        "z": 324.3243713378906
                    },
                    "rotation": {
                        "roll": 0.00015118652663659304,
                        "pitch": 0.4529644548892975,
                        "yaw": -179.5274658203125
                    }
                },
                "velocity": {
                    "x": -8.456075668334961,
                    "y": -0.07163280993700027,
                    "z": -0.012922525405883789
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04234504699707,
                "transform": {
                    "location": {
                        "x": -1604.657470703125,
                        "y": 1606.692626953125,
                        "z": 324.48455810546875
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.7295051217079163,
                        "yaw": -179.51571655273438
                    }
                },
                "velocity": {
                    "x": -8.041397094726562,
                    "y": -0.06796937435865402,
                    "z": 0.10305190831422806
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6009,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1647.9080810546875,
                        "y": 1606.4237060546875,
                        "z": 325.3628234863281
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.5876773595809937,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.807442665100098,
                "transform": {
                    "location": {
                        "x": -1600.4368896484375,
                        "y": 1610.42236328125,
                        "z": 324.44342041015625
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.4910905659198761,
                        "yaw": 0.5089173913002014
                    }
                },
                "velocity": {
                    "x": 6.806901931762695,
                    "y": 0.06042974442243576,
                    "z": -0.06093776971101761
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.872103214263916,
                "transform": {
                    "location": {
                        "x": -1584.6590576171875,
                        "y": 1610.55908203125,
                        "z": 324.3601379394531
                    },
                    "rotation": {
                        "roll": 0.0005073284264653921,
                        "pitch": -0.1143236979842186,
                        "yaw": 0.496062695980072
                    }
                },
                "velocity": {
                    "x": 4.871916770935059,
                    "y": 0.04127730801701546,
                    "z": -0.010654620826244354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.714698076248169,
                "transform": {
                    "location": {
                        "x": -1541.4500732421875,
                        "y": 1610.918212890625,
                        "z": 324.47930908203125
                    },
                    "rotation": {
                        "roll": 0.004711710382252932,
                        "pitch": 0.8868795037269592,
                        "yaw": 0.7405482530593872
                    }
                },
                "velocity": {
                    "x": 3.7142183780670166,
                    "y": 0.0349944569170475,
                    "z": 0.04837603494524956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.951783180236816,
                "transform": {
                    "location": {
                        "x": -1524.696044921875,
                        "y": 1611.0621337890625,
                        "z": 324.70770263671875
                    },
                    "rotation": {
                        "roll": 0.0001268274208996445,
                        "pitch": 0.867037832736969,
                        "yaw": 0.4799380898475647
                    }
                },
                "velocity": {
                    "x": 4.951046466827393,
                    "y": 0.041478481143713,
                    "z": 0.07467645406723022
                },
                "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": -0.5894532203674316,
        "expert_target_speed": 6.0247324508545725,
        "target_point": [
            47.45906556566714,
            -2.6293310506272656
        ],
        "target_point_next": [
            47.45906556566714,
            -2.6293310506272656
        ]
    },
    "465": {
        "acceleration": [
            0.1158905029296875,
            -0.25886163115501404,
            -0.00496826134622097
        ],
        "angular_velocity": [
            0.018724218010902405,
            0.005592064931988716,
            -3.0534775257110596
        ],
        "forward_vector": [
            0.9992026686668396,
            0.039925456047058105,
            0.0001847743842517957
        ],
        "right_vector": [
            -0.03992508351802826,
            0.999201238155365,
            -0.0017066524596884847
        ],
        "location": [
            -1566.99658203125,
            1611.13623046875,
            324.3258361816406
        ],
        "rotation": [
            0.09778402745723724,
            0.010586792603135109,
            2.28816819190979
        ],
        "velocity": [
            4.9452948570251465,
            0.12247379869222641,
            0.0007261466816999018
        ],
        "speed": 4.9468112005902825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.576040267944336,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1540.421875,
                1610.9283447265625,
                324.49237060546875
            ],
            "velocity": [
                4.565236568450928,
                0.040978915989398956,
                0.06028102710843086
            ],
            "speed_kmh": 16.43694637322263,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2326197624206543,
                "transform": {
                    "location": {
                        "x": -1520.6636962890625,
                        "y": 1607.4945068359375,
                        "z": 324.71514892578125
                    },
                    "rotation": {
                        "roll": 0.0006672005984000862,
                        "pitch": -0.8659381866455078,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": -0.0035400514025241137,
                    "y": -8.063550922088325e-05,
                    "z": 0.23259280622005463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.049294471740723,
                "transform": {
                    "location": {
                        "x": -1564.95654296875,
                        "y": 1607.0228271484375,
                        "z": 324.3244934082031
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.1463163048028946,
                        "yaw": -179.501220703125
                    }
                },
                "velocity": {
                    "x": -8.049004554748535,
                    "y": -0.068234384059906,
                    "z": 0.0032912730239331722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072046279907227,
                "transform": {
                    "location": {
                        "x": -1606.671875,
                        "y": 1606.6754150390625,
                        "z": 324.5128173828125
                    },
                    "rotation": {
                        "roll": 0.0002349743153899908,
                        "pitch": 0.8467316627502441,
                        "yaw": -179.51300048828125
                    }
                },
                "velocity": {
                    "x": -8.070764541625977,
                    "y": -0.06861705332994461,
                    "z": 0.1264246553182602
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.5832109451293945,
                "transform": {
                    "location": {
                        "x": -1599.0809326171875,
                        "y": 1610.4344482421875,
                        "z": 324.4291687011719
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": -0.28350064158439636,
                        "yaw": 0.5083383321762085
                    }
                },
                "velocity": {
                    "x": 4.582826137542725,
                    "y": 0.0407271571457386,
                    "z": -0.04320702329277992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.381691932678223,
                "transform": {
                    "location": {
                        "x": -1583.34619140625,
                        "y": 1610.5704345703125,
                        "z": 324.3575439453125
                    },
                    "rotation": {
                        "roll": -3.0517556297127157e-05,
                        "pitch": -0.06929909437894821,
                        "yaw": 0.5100374221801758
                    }
                },
                "velocity": {
                    "x": 5.3814849853515625,
                    "y": 0.04549791291356087,
                    "z": -0.012637557461857796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.5658183097839355,
                "transform": {
                    "location": {
                        "x": -1540.421875,
                        "y": 1610.9283447265625,
                        "z": 324.49237060546875
                    },
                    "rotation": {
                        "roll": 0.005641587544232607,
                        "pitch": 0.9470056891441345,
                        "yaw": 0.6445564031600952
                    }
                },
                "velocity": {
                    "x": 4.565236568450928,
                    "y": 0.040978915989398956,
                    "z": 0.06028102710843086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.811102390289307,
                "transform": {
                    "location": {
                        "x": -1523.4716796875,
                        "y": 1611.0721435546875,
                        "z": 324.72625732421875
                    },
                    "rotation": {
                        "roll": -0.00027465791208669543,
                        "pitch": 0.8648384809494019,
                        "yaw": 0.47740182280540466
                    }
                },
                "velocity": {
                    "x": 4.810385227203369,
                    "y": 0.04003211483359337,
                    "z": 0.07279058545827866
                },
                "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": -0.5715974569320679,
        "expert_target_speed": 6.055605046816471,
        "target_point": [
            46.25660998260277,
            -1.990372810047757
        ],
        "target_point_next": [
            46.25660998260277,
            -1.990372810047757
        ]
    },
    "470": {
        "acceleration": [
            0.1056671142578125,
            -0.265186071395874,
            -0.0004901888314634562
        ],
        "angular_velocity": [
            -0.02555028907954693,
            0.005056179594248533,
            -3.067988157272339
        ],
        "forward_vector": [
            0.999646782875061,
            0.02657649852335453,
            0.0001537799835205078
        ],
        "right_vector": [
            -0.026576194912195206,
            0.9996452927589417,
            -0.0017230887897312641
        ],
        "location": [
            -1565.7567138671875,
            1611.1612548828125,
            324.3258361816406
        ],
        "rotation": [
            0.09872576594352722,
            0.00881094392389059,
            1.5229004621505737
        ],
        "velocity": [
            4.97269868850708,
            0.056869301944971085,
            0.00025885581271722913
        ],
        "speed": 4.973023865233682,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.588586807250977,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1539.169677734375,
                1610.93994140625,
                324.50897216796875
            ],
            "velocity": [
                5.458587646484375,
                0.047476187348365784,
                0.07165609300136566
            ],
            "speed_kmh": 19.653351803491947,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0951363667845726,
                "transform": {
                    "location": {
                        "x": -1520.66455078125,
                        "y": 1607.4945068359375,
                        "z": 324.7630310058594
                    },
                    "rotation": {
                        "roll": 0.0006176148308441043,
                        "pitch": -0.8659040331840515,
                        "yaw": -179.51976013183594
                    }
                },
                "velocity": {
                    "x": -0.0014665501657873392,
                    "y": -3.277700670878403e-05,
                    "z": 0.09512505680322647
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.845414161682129,
                "transform": {
                    "location": {
                        "x": -1566.9173583984375,
                        "y": 1607.0062255859375,
                        "z": 324.3258972167969
                    },
                    "rotation": {
                        "roll": 0.0002911690971814096,
                        "pitch": -0.035120829939842224,
                        "yaw": -179.534912109375
                    }
                },
                "velocity": {
                    "x": -7.845139503479004,
                    "y": -0.06560118496417999,
                    "z": 0.0025332735385745764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04240608215332,
                "transform": {
                    "location": {
                        "x": -1608.6868896484375,
                        "y": 1606.657958984375,
                        "z": 324.5435791015625
                    },
                    "rotation": {
                        "roll": 0.00029413687298074365,
                        "pitch": 0.9810336828231812,
                        "yaw": -179.50753784179688
                    }
                },
                "velocity": {
                    "x": -8.040980339050293,
                    "y": -0.06891065090894699,
                    "z": 0.13487498462200165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.02518367767334,
                "transform": {
                    "location": {
                        "x": -1597.9163818359375,
                        "y": 1610.44482421875,
                        "z": 324.42095947265625
                    },
                    "rotation": {
                        "roll": -0.0004882814246229827,
                        "pitch": -0.47436344623565674,
                        "yaw": 0.5083513855934143
                    }
                },
                "velocity": {
                    "x": 5.024819374084473,
                    "y": 0.0445638932287693,
                    "z": -0.040929485112428665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.626131057739258,
                "transform": {
                    "location": {
                        "x": -1581.9185791015625,
                        "y": 1610.58251953125,
                        "z": 324.3544006347656
                    },
                    "rotation": {
                        "roll": 0.0007567754946649075,
                        "pitch": 0.03951264172792435,
                        "yaw": 0.49747759103775024
                    }
                },
                "velocity": {
                    "x": 6.6258745193481445,
                    "y": 0.05644160136580467,
                    "z": -0.014580726623535156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.459264278411865,
                "transform": {
                    "location": {
                        "x": -1539.169677734375,
                        "y": 1610.93994140625,
                        "z": 324.50897216796875
                    },
                    "rotation": {
                        "roll": 0.0034843706525862217,
                        "pitch": 0.9376551508903503,
                        "yaw": 0.5666669607162476
                    }
                },
                "velocity": {
                    "x": 5.458587646484375,
                    "y": 0.047476187348365784,
                    "z": 0.07165609300136566
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.9874444007873535,
                "transform": {
                    "location": {
                        "x": -1522.26171875,
                        "y": 1611.0821533203125,
                        "z": 324.7445068359375
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": 0.8692508339881897,
                        "yaw": 0.47710710763931274
                    }
                },
                "velocity": {
                    "x": 4.9867048263549805,
                    "y": 0.04156526178121567,
                    "z": 0.07514835149049759
                },
                "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": -0.5720035433769226,
        "expert_target_speed": 6.086641797256611,
        "target_point": [
            45.0389723143543,
            -1.364453854453693
        ],
        "target_point_next": [
            45.0389723143543,
            -1.364453854453693
        ]
    },
    "475": {
        "acceleration": [
            0.14303207397460938,
            -0.26896047592163086,
            0.07547377794981003
        ],
        "angular_velocity": [
            0.014275182969868183,
            -0.013897542841732502,
            -3.0864362716674805
        ],
        "forward_vector": [
            0.9999135136604309,
            0.01315236371010542,
            0.000171661376953125
        ],
        "right_vector": [
            -0.0131520451977849,
            0.9999120235443115,
            -0.001742226304486394
        ],
        "location": [
            -1564.5093994140625,
            1611.1695556640625,
            324.3258972167969
        ],
        "rotation": [
            0.0998222678899765,
            0.009835472330451012,
            0.7535966634750366
        ],
        "velocity": [
            5.006289482116699,
            -0.00980214960873127,
            0.002973155817016959
        ],
        "speed": 5.006299078250244,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.801557540893555,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1537.70947265625,
                1610.9537353515625,
                324.5279846191406
            ],
            "velocity": [
                6.0270209312438965,
                0.04949105530977249,
                0.07741006463766098
            ],
            "speed_kmh": 21.69979635684541,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9723491668701172,
                "transform": {
                    "location": {
                        "x": -1520.8768310546875,
                        "y": 1607.4912109375,
                        "z": 324.7675476074219
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": -0.8259884119033813,
                        "yaw": -179.49713134765625
                    }
                },
                "velocity": {
                    "x": -1.971848726272583,
                    "y": -0.034371908754110336,
                    "z": -0.028145650401711464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.189864158630371,
                "transform": {
                    "location": {
                        "x": -1568.935302734375,
                        "y": 1606.989501953125,
                        "z": 324.3258972167969
                    },
                    "rotation": {
                        "roll": -0.0003356932429596782,
                        "pitch": 0.08901102095842361,
                        "yaw": -179.508056640625
                    }
                },
                "velocity": {
                    "x": -8.189579010009766,
                    "y": -0.06830393522977829,
                    "z": 0.0010362911270931363
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.073558807373047,
                "transform": {
                    "location": {
                        "x": -1610.7010498046875,
                        "y": 1606.640625,
                        "z": 324.57794189453125
                    },
                    "rotation": {
                        "roll": 0.00034476909786462784,
                        "pitch": 0.9643133878707886,
                        "yaw": -179.51255798339844
                    }
                },
                "velocity": {
                    "x": -8.072080612182617,
                    "y": -0.06778766959905624,
                    "z": 0.1388317495584488
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.319021224975586,
                "transform": {
                    "location": {
                        "x": -1596.6083984375,
                        "y": 1610.4564208984375,
                        "z": 324.4107971191406
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": -0.5116835832595825,
                        "yaw": 0.5066943764686584
                    }
                },
                "velocity": {
                    "x": 5.318676471710205,
                    "y": 0.04660690575838089,
                    "z": -0.03868274763226509
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.609711647033691,
                "transform": {
                    "location": {
                        "x": -1580.052978515625,
                        "y": 1610.5982666015625,
                        "z": 324.35015869140625
                    },
                    "rotation": {
                        "roll": 0.0008928512688726187,
                        "pitch": 0.03335864096879959,
                        "yaw": 0.4847574830055237
                    }
                },
                "velocity": {
                    "x": 7.609431743621826,
                    "y": 0.06310214847326279,
                    "z": -0.016718406230211258
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.027721405029297,
                "transform": {
                    "location": {
                        "x": -1537.70947265625,
                        "y": 1610.9537353515625,
                        "z": 324.5279846191406
                    },
                    "rotation": {
                        "roll": 0.002793971449136734,
                        "pitch": 0.9198352098464966,
                        "yaw": 0.41408348083496094
                    }
                },
                "velocity": {
                    "x": 6.0270209312438965,
                    "y": 0.04949105530977249,
                    "z": 0.07741006463766098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.649125576019287,
                "transform": {
                    "location": {
                        "x": -1521.0654296875,
                        "y": 1611.0931396484375,
                        "z": 324.76263427734375
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.8568403720855713,
                        "yaw": 0.34353041648864746
                    }
                },
                "velocity": {
                    "x": 4.64846134185791,
                    "y": 0.03711601719260216,
                    "z": 0.06927268952131271
                },
                "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": -0.5235671401023865,
        "expert_target_speed": 6.124086586450461,
        "target_point": [
            43.805916620236424,
            -0.7515101660490859
        ],
        "target_point_next": [
            43.805916620236424,
            -0.7515101660490859
        ]
    },
    "480": {
        "acceleration": [
            0.5402755737304688,
            -0.2503982186317444,
            0.20296421647071838
        ],
        "angular_velocity": [
            0.038604747503995895,
            -0.1924765557050705,
            -3.0075619220733643
        ],
        "forward_vector": [
            1.0,
            0.00022112944861873984,
            6.866454350529239e-05
        ],
        "right_vector": [
            -0.00022101485228631645,
            0.9999986290931702,
            -0.0016644892748445272
        ],
        "location": [
            -1563.2593994140625,
            1611.1614990234375,
            324.32586669921875
        ],
        "rotation": [
            0.09536825865507126,
            0.00393418874591589,
            0.012669784016907215
        ],
        "velocity": [
            5.007516860961914,
            -0.0727991834282875,
            0.006026601884514093
        ],
        "speed": 5.008046009565576,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.21327781677246,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1536.0477294921875,
                1610.967041015625,
                324.5487976074219
            ],
            "velocity": [
                7.4105963706970215,
                0.05930643901228905,
                0.09885797649621964
            ],
            "speed_kmh": 26.68137485672479,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.035017967224121,
                "transform": {
                    "location": {
                        "x": -1521.5211181640625,
                        "y": 1607.48095703125,
                        "z": 324.7572326660156
                    },
                    "rotation": {
                        "roll": -0.0039062497671693563,
                        "pitch": -0.8356872797012329,
                        "yaw": -179.33145141601562
                    }
                },
                "velocity": {
                    "x": -3.0341219902038574,
                    "y": -0.05573468655347824,
                    "z": -0.04828856885433197
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9576592445373535,
                "transform": {
                    "location": {
                        "x": -1570.9549560546875,
                        "y": 1606.97265625,
                        "z": 324.32757568359375
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.03130275383591652,
                        "yaw": -179.5333251953125
                    }
                },
                "velocity": {
                    "x": -7.957371711730957,
                    "y": -0.06671369075775146,
                    "z": 0.011011161841452122
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.039559364318848,
                "transform": {
                    "location": {
                        "x": -1612.714599609375,
                        "y": 1606.6236572265625,
                        "z": 324.61358642578125
                    },
                    "rotation": {
                        "roll": 0.00025297736283391714,
                        "pitch": 1.043263554573059,
                        "yaw": -179.51226806640625
                    }
                },
                "velocity": {
                    "x": -8.03792953491211,
                    "y": -0.06946471333503723,
                    "z": 0.14623740315437317
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.91870641708374,
                "transform": {
                    "location": {
                        "x": -1595.17919921875,
                        "y": 1610.4683837890625,
                        "z": 324.4020080566406
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": -0.3958367705345154,
                        "yaw": 0.5718648433685303
                    }
                },
                "velocity": {
                    "x": 5.91840934753418,
                    "y": 0.05113702639937401,
                    "z": -0.029972724616527557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.6384501457214355,
                "transform": {
                    "location": {
                        "x": -1578.275146484375,
                        "y": 1610.6129150390625,
                        "z": 324.34588623046875
                    },
                    "rotation": {
                        "roll": 0.0007287437911145389,
                        "pitch": -0.20819097757339478,
                        "yaw": 0.4685775637626648
                    }
                },
                "velocity": {
                    "x": 6.63820743560791,
                    "y": 0.05458473041653633,
                    "z": -0.015508575364947319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.411492824554443,
                "transform": {
                    "location": {
                        "x": -1536.0477294921875,
                        "y": 1610.967041015625,
                        "z": 324.5487976074219
                    },
                    "rotation": {
                        "roll": -0.00012206958490423858,
                        "pitch": 1.0039489269256592,
                        "yaw": 0.42356908321380615
                    }
                },
                "velocity": {
                    "x": 7.4105963706970215,
                    "y": 0.05930643901228905,
                    "z": 0.09885797649621964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.006783962249756,
                "transform": {
                    "location": {
                        "x": -1519.820068359375,
                        "y": 1611.1031494140625,
                        "z": 324.7815856933594
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.8794414401054382,
                        "yaw": 0.32554030418395996
                    }
                },
                "velocity": {
                    "x": 5.006043910980225,
                    "y": 0.039367787539958954,
                    "z": 0.0765308141708374
                },
                "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": -0.4924972951412201,
        "expert_target_speed": 6.135825904226243,
        "target_point": [
            42.56197368887977,
            -0.17665005961916294
        ],
        "target_point_next": [
            42.56197368887977,
            -0.17665005961916294
        ]
    },
    "485": {
        "acceleration": [
            0.2950477600097656,
            -0.24741962552070618,
            0.09529858827590942
        ],
        "angular_velocity": [
            0.0027117084246128798,
            -0.5846278071403503,
            -3.0528454780578613
        ],
        "forward_vector": [
            0.9999143481254578,
            -0.01293991319835186,
            0.001950977835804224
        ],
        "right_vector": [
            0.012942791916429996,
            0.9999151229858398,
            -0.001469960785470903
        ],
        "location": [
            -1562.0096435546875,
            1611.1396484375,
            324.3282775878906
        ],
        "rotation": [
            0.08422274142503738,
            0.11178287118673325,
            -0.741424560546875
        ],
        "velocity": [
            5.015736103057861,
            -0.1274658441543579,
            0.015512390062212944
        ],
        "speed": 5.017355498362065,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.903766632080078,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1534.107421875,
                1610.9822998046875,
                324.57623291015625
            ],
            "velocity": [
                7.681331157684326,
                0.06267426908016205,
                0.11184892058372498
            ],
            "speed_kmh": 27.65664394541971,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8341541290283203,
                "transform": {
                    "location": {
                        "x": -1522.384521484375,
                        "y": 1607.4661865234375,
                        "z": 324.7439880371094
                    },
                    "rotation": {
                        "roll": -0.005554197356104851,
                        "pitch": -0.8454544544219971,
                        "yaw": -179.1722412109375
                    }
                },
                "velocity": {
                    "x": -3.8330442905426025,
                    "y": -0.07177107781171799,
                    "z": -0.0579562745988369
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015247344970703,
                "transform": {
                    "location": {
                        "x": -1572.9439697265625,
                        "y": 1606.9561767578125,
                        "z": 324.3302001953125
                    },
                    "rotation": {
                        "roll": -9.155266889138147e-05,
                        "pitch": 0.13329796493053436,
                        "yaw": -179.5089111328125
                    }
                },
                "velocity": {
                    "x": -8.014954566955566,
                    "y": -0.06662490963935852,
                    "z": 0.016079796478152275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.073297500610352,
                "transform": {
                    "location": {
                        "x": -1614.72900390625,
                        "y": 1606.606689453125,
                        "z": 324.6505126953125
                    },
                    "rotation": {
                        "roll": 0.00012082854664186016,
                        "pitch": 1.0849344730377197,
                        "yaw": -179.5147247314453
                    }
                },
                "velocity": {
                    "x": -8.071569442749023,
                    "y": -0.06847026199102402,
                    "z": 0.15237869322299957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.815263271331787,
                "transform": {
                    "location": {
                        "x": -1593.4097900390625,
                        "y": 1610.4840087890625,
                        "z": 324.39239501953125
                    },
                    "rotation": {
                        "roll": 0.000378693628590554,
                        "pitch": -0.3729829490184784,
                        "yaw": 0.5316057801246643
                    }
                },
                "velocity": {
                    "x": 7.814867973327637,
                    "y": 0.06907013058662415,
                    "z": -0.037539802491664886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.226057767868042,
                "transform": {
                    "location": {
                        "x": -1577.0458984375,
                        "y": 1610.6212158203125,
                        "z": 324.3431701660156
                    },
                    "rotation": {
                        "roll": 0.07625997811555862,
                        "pitch": -0.6302488446235657,
                        "yaw": 0.35142844915390015
                    }
                },
                "velocity": {
                    "x": 2.226051092147827,
                    "y": 0.004731317516416311,
                    "z": -0.002636003540828824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.682401180267334,
                "transform": {
                    "location": {
                        "x": -1534.107421875,
                        "y": 1610.9822998046875,
                        "z": 324.57623291015625
                    },
                    "rotation": {
                        "roll": -0.0017089842585846782,
                        "pitch": 1.006380558013916,
                        "yaw": 0.46016860008239746
                    }
                },
                "velocity": {
                    "x": 7.681331157684326,
                    "y": 0.06267426908016205,
                    "z": 0.11184892058372498
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.923528671264648,
                "transform": {
                    "location": {
                        "x": -1518.6591796875,
                        "y": 1611.114990234375,
                        "z": 324.79888916015625
                    },
                    "rotation": {
                        "roll": -0.007781981956213713,
                        "pitch": 0.8663548231124878,
                        "yaw": -0.0636291354894638
                    }
                },
                "velocity": {
                    "x": 4.922850608825684,
                    "y": 0.03443548455834389,
                    "z": 0.07409955561161041
                },
                "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": -0.4161113202571869,
        "expert_target_speed": 6.1502158588367815,
        "target_point": [
            41.310678315299846,
            0.3892021766527233
        ],
        "target_point_next": [
            41.310678315299846,
            0.3892021766527233
        ]
    },
    "490": {
        "acceleration": [
            1.150360107421875,
            -0.2000322937965393,
            0.12874184548854828
        ],
        "angular_velocity": [
            0.04267314448952675,
            -0.6358067989349365,
            -2.262693405151367
        ],
        "forward_vector": [
            0.999707818031311,
            -0.023856284096837044,
            0.003895272733643651
        ],
        "right_vector": [
            0.02386130951344967,
            0.9997144937515259,
            -0.0012490047374740243
        ],
        "location": [
            -1560.760009765625,
            1611.10400390625,
            324.33099365234375
        ],
        "rotation": [
            0.07156325876712799,
            0.22318324446678162,
            -1.36700439453125
        ],
        "velocity": [
            5.009715557098389,
            -0.17245373129844666,
            0.015656156465411186
        ],
        "speed": 5.01268293955167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.763261795043945,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1532.998291015625,
                1610.995849609375,
                324.60296630859375
            ],
            "velocity": [
                1.3236931562423706,
                0.021480726078152657,
                0.017808236181735992
            ],
            "speed_kmh": 4.766353948533536,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.609309196472168,
                "transform": {
                    "location": {
                        "x": -1523.443359375,
                        "y": 1607.4471435546875,
                        "z": 324.72802734375
                    },
                    "rotation": {
                        "roll": -0.006958007346838713,
                        "pitch": -0.8470799922943115,
                        "yaw": -179.0489501953125
                    }
                },
                "velocity": {
                    "x": -4.607938289642334,
                    "y": -0.08806591480970383,
                    "z": -0.06987456977367401
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072277069091797,
                "transform": {
                    "location": {
                        "x": -1574.9622802734375,
                        "y": 1606.9393310546875,
                        "z": 324.3348693847656
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": 0.1606050580739975,
                        "yaw": -179.53196716308594
                    }
                },
                "velocity": {
                    "x": -8.071969032287598,
                    "y": -0.0678228810429573,
                    "z": 0.019214743748307228
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.039206504821777,
                "transform": {
                    "location": {
                        "x": -1616.7423095703125,
                        "y": 1606.58984375,
                        "z": 324.68853759765625
                    },
                    "rotation": {
                        "roll": -6.103517807787284e-05,
                        "pitch": 1.0773667097091675,
                        "yaw": -179.51821899414062
                    }
                },
                "velocity": {
                    "x": -8.03750991821289,
                    "y": -0.06722091138362885,
                    "z": 0.1508939266204834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.5337443351745605,
                "transform": {
                    "location": {
                        "x": -1591.446044921875,
                        "y": 1610.501220703125,
                        "z": 324.3832092285156
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": -0.24809977412223816,
                        "yaw": 0.5054788589477539
                    }
                },
                "velocity": {
                    "x": 7.533389568328857,
                    "y": 0.06614739447832108,
                    "z": -0.0311823021620512
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1959925889968872,
                "transform": {
                    "location": {
                        "x": -1576.853759765625,
                        "y": 1610.6204833984375,
                        "z": 324.34332275390625
                    },
                    "rotation": {
                        "roll": 0.07195118814706802,
                        "pitch": -0.3443644642829895,
                        "yaw": 0.21029019355773926
                    }
                },
                "velocity": {
                    "x": 1.1959893703460693,
                    "y": -0.0007576944772154093,
                    "z": -0.0026798630133271217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3239872455596924,
                "transform": {
                    "location": {
                        "x": -1532.998291015625,
                        "y": 1610.995849609375,
                        "z": 324.60296630859375
                    },
                    "rotation": {
                        "roll": 0.003911364357918501,
                        "pitch": -0.2984655797481537,
                        "yaw": 0.07846177369356155
                    }
                },
                "velocity": {
                    "x": 1.3236931562423706,
                    "y": 0.021480726078152657,
                    "z": 0.017808236181735992
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8033294677734375,
                "transform": {
                    "location": {
                        "x": -1517.4127197265625,
                        "y": 1611.119384765625,
                        "z": 324.8177795410156
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.862994372844696,
                        "yaw": 0.4445986747741699
                    }
                },
                "velocity": {
                    "x": 4.802649974822998,
                    "y": 0.03880578279495239,
                    "z": 0.07085895538330078
                },
                "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": -0.36453548073768616,
        "expert_target_speed": 6.110454442024732,
        "target_point": [
            40.053838035236865,
            0.8460431011962098
        ],
        "target_point_next": [
            40.053838035236865,
            0.8460431011962098
        ]
    },
    "495": {
        "acceleration": [
            1.3541126251220703,
            -0.1088714599609375,
            0.15871164202690125
        ],
        "angular_velocity": [
            0.08996715396642685,
            -0.1577170044183731,
            -1.4365477561950684
        ],
        "forward_vector": [
            0.9995324611663818,
            -0.030233677476644516,
            0.004554255399852991
        ],
        "right_vector": [
            0.030236395075917244,
            0.9995426535606384,
            -0.0005289973923936486
        ],
        "location": [
            -1559.5111083984375,
            1611.0614013671875,
            324.33544921875
        ],
        "rotation": [
            0.030309630557894707,
            0.2609405219554901,
            -1.7325440645217896
        ],
        "velocity": [
            5.011630535125732,
            -0.18284161388874054,
            0.025851020589470863
        ],
        "speed": 5.014964773193734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.58477210998535,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1532.927734375,
                1610.996826171875,
                324.6004333496094
            ],
            "velocity": [
                0.5112301111221313,
                0.0036991627421230078,
                0.00911914836615324
            ],
            "speed_kmh": 1.840769343698615,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.1931867599487305,
                "transform": {
                    "location": {
                        "x": -1524.692626953125,
                        "y": 1607.4237060546875,
                        "z": 324.70947265625
                    },
                    "rotation": {
                        "roll": -0.008575436659157276,
                        "pitch": -0.8502492308616638,
                        "yaw": -178.96316528320312
                    }
                },
                "velocity": {
                    "x": -5.191628932952881,
                    "y": -0.10031727701425552,
                    "z": -0.07820823788642883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.987738132476807,
                "transform": {
                    "location": {
                        "x": -1576.966796875,
                        "y": 1606.9227294921875,
                        "z": 324.3397521972656
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.11855841428041458,
                        "yaw": -179.50460815429688
                    }
                },
                "velocity": {
                    "x": -7.987433910369873,
                    "y": -0.06716858595609665,
                    "z": 0.018745630979537964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072667121887207,
                "transform": {
                    "location": {
                        "x": -1618.755859375,
                        "y": 1606.57275390625,
                        "z": 324.726318359375
                    },
                    "rotation": {
                        "roll": -0.000549315707758069,
                        "pitch": 1.0748121738433838,
                        "yaw": -179.5155487060547
                    }
                },
                "velocity": {
                    "x": -8.070968627929688,
                    "y": -0.06740716099739075,
                    "z": 0.15124556422233582
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.88265323638916,
                "transform": {
                    "location": {
                        "x": -1589.719482421875,
                        "y": 1610.51611328125,
                        "z": 324.3763732910156
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.06606841832399368,
                        "yaw": 0.49130547046661377
                    }
                },
                "velocity": {
                    "x": 5.8824310302734375,
                    "y": 0.04899856820702553,
                    "z": -0.014701614156365395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.327362537384033,
                "transform": {
                    "location": {
                        "x": -1576.39306640625,
                        "y": 1610.62158203125,
                        "z": 324.3426513671875
                    },
                    "rotation": {
                        "roll": 0.06441454589366913,
                        "pitch": -0.0016187547007575631,
                        "yaw": 0.22197166085243225
                    }
                },
                "velocity": {
                    "x": 2.327343702316284,
                    "y": 0.00794847123324871,
                    "z": -0.004987821448594332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5113248229026794,
                "transform": {
                    "location": {
                        "x": -1532.927734375,
                        "y": 1610.996826171875,
                        "z": 324.6004333496094
                    },
                    "rotation": {
                        "roll": 0.011468011885881424,
                        "pitch": 0.13852988183498383,
                        "yaw": 0.07446496933698654
                    }
                },
                "velocity": {
                    "x": 0.5112301111221313,
                    "y": 0.0036991627421230078,
                    "z": 0.00911914836615324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.099950313568115,
                "transform": {
                    "location": {
                        "x": -1516.15625,
                        "y": 1611.129150390625,
                        "z": 324.8369140625
                    },
                    "rotation": {
                        "roll": 0.0004170835018157959,
                        "pitch": 0.8730620741844177,
                        "yaw": 0.5432827472686768
                    }
                },
                "velocity": {
                    "x": 5.099161148071289,
                    "y": 0.04459521174430847,
                    "z": 0.07784105092287064
                },
                "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": -0.30672919750213623,
        "expert_target_speed": 6.096305308681284,
        "target_point": [
            38.79800683448149,
            1.1063851467654662
        ],
        "target_point_next": [
            38.79800683448149,
            1.1063851467654662
        ]
    },
    "500": {
        "acceleration": [
            0.2754020690917969,
            0.03883659839630127,
            0.003127455711364746
        ],
        "angular_velocity": [
            0.14265941083431244,
            -0.07053514569997787,
            -0.942883312702179
        ],
        "forward_vector": [
            0.9993709325790405,
            -0.03517913818359375,
            0.0044895256869494915
        ],
        "right_vector": [
            0.03518025577068329,
            0.9993810057640076,
            -0.00017014909826684743
        ],
        "location": [
            -1558.2608642578125,
            1611.015869140625,
            324.3411865234375
        ],
        "rotation": [
            0.00974892359226942,
            0.257231742143631,
            -2.016052484512329
        ],
        "velocity": [
            5.013596534729004,
            -0.18757377564907074,
            0.023889979347586632
        ],
        "speed": 5.017104158212975,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.53154754638672,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1532.7305908203125,
                1610.998046875,
                324.59564208984375
            ],
            "velocity": [
                0.888975977897644,
                0.00590701075270772,
                0.014260205440223217
            ],
            "speed_kmh": 3.200795885442457,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.163597583770752,
                "transform": {
                    "location": {
                        "x": -1526.0870361328125,
                        "y": 1607.3980712890625,
                        "z": 324.6883239746094
                    },
                    "rotation": {
                        "roll": -0.007110594306141138,
                        "pitch": -0.846157968044281,
                        "yaw": -178.95477294921875
                    }
                },
                "velocity": {
                    "x": -6.1620965003967285,
                    "y": -0.09866013377904892,
                    "z": -0.09365317225456238
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042204856872559,
                "transform": {
                    "location": {
                        "x": -1578.969970703125,
                        "y": 1606.906005859375,
                        "z": 324.3442077636719
                    },
                    "rotation": {
                        "roll": 0.0003278654476162046,
                        "pitch": 0.13954758644104004,
                        "yaw": -179.5345458984375
                    }
                },
                "velocity": {
                    "x": -8.041901588439941,
                    "y": -0.06720050424337387,
                    "z": 0.018989944830536842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.040107727050781,
                "transform": {
                    "location": {
                        "x": -1620.7696533203125,
                        "y": 1606.5560302734375,
                        "z": 324.76409912109375
                    },
                    "rotation": {
                        "roll": 2.2344202079693787e-05,
                        "pitch": 1.0750784873962402,
                        "yaw": -179.5171356201172
                    }
                },
                "velocity": {
                    "x": -8.038403511047363,
                    "y": -0.06779222935438156,
                    "z": 0.1510331928730011
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6874419450759888,
                "transform": {
                    "location": {
                        "x": -1588.7406005859375,
                        "y": 1610.5562744140625,
                        "z": 324.3714294433594
                    },
                    "rotation": {
                        "roll": 0.04075105860829353,
                        "pitch": 0.20853932201862335,
                        "yaw": -1.7895506620407104
                    }
                },
                "velocity": {
                    "x": 1.6806004047393799,
                    "y": 0.15173400938510895,
                    "z": -0.004430160392075777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.63689923286438,
                "transform": {
                    "location": {
                        "x": -1575.65283203125,
                        "y": 1610.6256103515625,
                        "z": 324.3412170410156
                    },
                    "rotation": {
                        "roll": 0.06790167838335037,
                        "pitch": 0.09315694868564606,
                        "yaw": 0.2726316452026367
                    }
                },
                "velocity": {
                    "x": 3.6368377208709717,
                    "y": 0.019130734726786613,
                    "z": -0.009022454731166363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8891099691390991,
                "transform": {
                    "location": {
                        "x": -1532.7305908203125,
                        "y": 1610.998046875,
                        "z": 324.59564208984375
                    },
                    "rotation": {
                        "roll": -0.007843017578125,
                        "pitch": 1.1282583475112915,
                        "yaw": 0.0728440135717392
                    }
                },
                "velocity": {
                    "x": 0.888975977897644,
                    "y": 0.00590701075270772,
                    "z": 0.014260205440223217
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.022716522216797,
                "transform": {
                    "location": {
                        "x": -1514.902587890625,
                        "y": 1611.1407470703125,
                        "z": 324.85577392578125
                    },
                    "rotation": {
                        "roll": -0.00018310529412701726,
                        "pitch": 0.8652892708778381,
                        "yaw": 0.5203468799591064
                    }
                },
                "velocity": {
                    "x": 5.022008419036865,
                    "y": 0.04503263533115387,
                    "z": 0.07132085412740707
                },
                "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": -0.22956989705562592,
        "expert_target_speed": 6.089289953002111,
        "target_point": [
            37.54098529062355,
            1.2998698816235705
        ],
        "target_point_next": [
            37.54098529062355,
            1.2998698816235705
        ]
    },
    "505": {
        "acceleration": [
            -1.1572074890136719,
            0.1120111346244812,
            -0.08834991604089737
        ],
        "angular_velocity": [
            0.05548926815390587,
            -0.0771457701921463,
            -0.061151280999183655
        ],
        "forward_vector": [
            0.9993705749511719,
            -0.03521323204040527,
            0.004303561057895422
        ],
        "right_vector": [
            0.03521208092570305,
            0.9993798136711121,
            0.00034247926669195294
        ],
        "location": [
            -1557.0118408203125,
            1610.9727783203125,
            324.3465881347656
        ],
        "rotation": [
            -0.0196227990090847,
            0.24657665193080902,
            -2.01800537109375
        ],
        "velocity": [
            4.9980645179748535,
            -0.1658584326505661,
            0.018989456817507744
        ],
        "speed": 5.000815728010832,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.492048263549805,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1532.5211181640625,
                1610.999755859375,
                324.60009765625
            ],
            "velocity": [
                0.8018839955329895,
                0.005726374685764313,
                0.012463797815144062
            ],
            "speed_kmh": 2.8872046681345633,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.900142192840576,
                "transform": {
                    "location": {
                        "x": -1527.671875,
                        "y": 1607.3734130859375,
                        "z": 324.6643371582031
                    },
                    "rotation": {
                        "roll": -0.004821776412427425,
                        "pitch": -0.8422237634658813,
                        "yaw": -179.0804901123047
                    }
                },
                "velocity": {
                    "x": -6.89866304397583,
                    "y": -0.0978073701262474,
                    "z": -0.10411529988050461
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030781745910645,
                "transform": {
                    "location": {
                        "x": -1580.98095703125,
                        "y": 1606.8895263671875,
                        "z": 324.3487548828125
                    },
                    "rotation": {
                        "roll": -0.0006103516207076609,
                        "pitch": 0.13516943156719208,
                        "yaw": -179.50503540039062
                    }
                },
                "velocity": {
                    "x": -8.030467987060547,
                    "y": -0.06855946779251099,
                    "z": 0.018521403893828392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072482109069824,
                "transform": {
                    "location": {
                        "x": -1622.783203125,
                        "y": 1606.5391845703125,
                        "z": 324.8018798828125
                    },
                    "rotation": {
                        "roll": 0.0001257841067854315,
                        "pitch": 1.0758503675460815,
                        "yaw": -179.51600646972656
                    }
                },
                "velocity": {
                    "x": -8.070767402648926,
                    "y": -0.06895837932825089,
                    "z": 0.1514301300048828
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8727721571922302,
                "transform": {
                    "location": {
                        "x": -1588.609375,
                        "y": 1610.5697021484375,
                        "z": 324.3728942871094
                    },
                    "rotation": {
                        "roll": 3.408708289498463e-05,
                        "pitch": -0.008510415442287922,
                        "yaw": -2.462799310684204
                    }
                },
                "velocity": {
                    "x": 0.8727457523345947,
                    "y": 0.006499755661934614,
                    "z": -0.001956844236701727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0685577392578125,
                "transform": {
                    "location": {
                        "x": -1574.5526123046875,
                        "y": 1610.6336669921875,
                        "z": 324.3378601074219
                    },
                    "rotation": {
                        "roll": 0.03334927558898926,
                        "pitch": 0.06501656770706177,
                        "yaw": 0.38954079151153564
                    }
                },
                "velocity": {
                    "x": 5.068309307098389,
                    "y": 0.042127154767513275,
                    "z": 0.02724083885550499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8020012974739075,
                "transform": {
                    "location": {
                        "x": -1532.5211181640625,
                        "y": 1610.999755859375,
                        "z": 324.60009765625
                    },
                    "rotation": {
                        "roll": -0.007385254371911287,
                        "pitch": 0.9689306020736694,
                        "yaw": 0.10562427341938019
                    }
                },
                "velocity": {
                    "x": 0.8018839955329895,
                    "y": 0.005726374685764313,
                    "z": 0.012463797815144062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.057141304016113,
                "transform": {
                    "location": {
                        "x": -1513.64404296875,
                        "y": 1611.152099609375,
                        "z": 324.8747863769531
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.8669763803482056,
                        "yaw": 0.44085758924484253
                    }
                },
                "velocity": {
                    "x": 5.056370258331299,
                    "y": 0.042650122195482254,
                    "z": 0.07731237262487411
                },
                "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": -0.18980303406715393,
        "expert_target_speed": 6.059265147106319,
        "target_point": [
            36.29117476401688,
            1.300231361633733
        ],
        "target_point_next": [
            36.29117476401688,
            1.300231361633733
        ]
    },
    "510": {
        "acceleration": [
            0.38987159729003906,
            0.129530131816864,
            -0.01442890614271164
        ],
        "angular_velocity": [
            0.01691569946706295,
            0.11291869729757309,
            3.9323511123657227
        ],
        "forward_vector": [
            0.9995070695877075,
            -0.03108336590230465,
            0.004411325324326754
        ],
        "right_vector": [
            0.031079979613423347,
            0.9995165467262268,
            0.0008340937783941627
        ],
        "location": [
            -1555.760009765625,
            1610.9365234375,
            324.3520812988281
        ],
        "rotation": [
            -0.0477905236184597,
            0.2527511417865753,
            -1.7812498807907104
        ],
        "velocity": [
            4.996776580810547,
            -0.1260511726140976,
            0.022277135401964188
        ],
        "speed": 4.998366242749137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.517433166503906,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1532.2440185546875,
                1611.001708984375,
                324.60430908203125
            ],
            "velocity": [
                1.5482347011566162,
                0.010870356112718582,
                0.023278141394257545
            ],
            "speed_kmh": 5.574412239313755,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.882002830505371,
                "transform": {
                    "location": {
                        "x": -1529.5296630859375,
                        "y": 1607.3470458984375,
                        "z": 324.63623046875
                    },
                    "rotation": {
                        "roll": -0.004211425315588713,
                        "pitch": -0.8429272770881653,
                        "yaw": -179.1940155029297
                    }
                },
                "velocity": {
                    "x": -7.8803935050964355,
                    "y": -0.1057557463645935,
                    "z": -0.11907776445150375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015138626098633,
                "transform": {
                    "location": {
                        "x": -1582.9849853515625,
                        "y": 1606.872802734375,
                        "z": 324.3533020019531
                    },
                    "rotation": {
                        "roll": -0.00018310539599042386,
                        "pitch": 0.12787479162216187,
                        "yaw": -179.5309600830078
                    }
                },
                "velocity": {
                    "x": -8.014833450317383,
                    "y": -0.067452073097229,
                    "z": 0.01862737536430359
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.039815902709961,
                "transform": {
                    "location": {
                        "x": -1624.796875,
                        "y": 1606.5220947265625,
                        "z": 324.8396301269531
                    },
                    "rotation": {
                        "roll": 0.0004835881700273603,
                        "pitch": 1.0749760866165161,
                        "yaw": -179.51686096191406
                    }
                },
                "velocity": {
                    "x": -8.038126945495605,
                    "y": -0.06745588034391403,
                    "z": 0.15034104883670807
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7397353649139404,
                "transform": {
                    "location": {
                        "x": -1588.2725830078125,
                        "y": 1610.5677490234375,
                        "z": 324.3733825683594
                    },
                    "rotation": {
                        "roll": 0.013252888806164265,
                        "pitch": -0.1942369043827057,
                        "yaw": -2.085693836212158
                    }
                },
                "velocity": {
                    "x": 1.7397167682647705,
                    "y": 0.006180754862725735,
                    "z": -0.005149020813405514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.857970237731934,
                "transform": {
                    "location": {
                        "x": -1573.203125,
                        "y": 1610.6434326171875,
                        "z": 324.33648681640625
                    },
                    "rotation": {
                        "roll": 0.1045602485537529,
                        "pitch": -0.03820807486772537,
                        "yaw": 0.8432672023773193
                    }
                },
                "velocity": {
                    "x": 5.8577470779418945,
                    "y": 0.04755635932087898,
                    "z": -0.018697690218687057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.548447847366333,
                "transform": {
                    "location": {
                        "x": -1532.2440185546875,
                        "y": 1611.001708984375,
                        "z": 324.60430908203125
                    },
                    "rotation": {
                        "roll": -0.008056641556322575,
                        "pitch": 0.9689579010009766,
                        "yaw": 0.1273745447397232
                    }
                },
                "velocity": {
                    "x": 1.5482347011566162,
                    "y": 0.010870356112718582,
                    "z": 0.023278141394257545
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.087551116943359,
                "transform": {
                    "location": {
                        "x": -1512.3734130859375,
                        "y": 1611.1649169921875,
                        "z": 324.89398193359375
                    },
                    "rotation": {
                        "roll": -0.003784178989008069,
                        "pitch": 0.8663548231124878,
                        "yaw": 0.1837969422340393
                    }
                },
                "velocity": {
                    "x": 5.086822032928467,
                    "y": 0.03779826685786247,
                    "z": 0.07739448547363281
                },
                "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": -0.14771416783332825,
        "expert_target_speed": 6.0489753679791844,
        "target_point": [
            35.043884585015455,
            1.1475859268805657
        ],
        "target_point_next": [
            35.043884585015455,
            1.1475859268805657
        ]
    },
    "515": {
        "acceleration": [
            1.325693130493164,
            0.16364693641662598,
            0.12546655535697937
        ],
        "angular_velocity": [
            0.05895398184657097,
            -0.20853355526924133,
            1.6261833906173706
        ],
        "forward_vector": [
            0.99969881772995,
            -0.02414856106042862,
            0.004360661376267672
        ],
        "right_vector": [
            0.02414468675851822,
            0.9997080564498901,
            0.0009395540109835565
        ],
        "location": [
            -1554.5086669921875,
            1610.907958984375,
            324.3573303222656
        ],
        "rotation": [
            -0.0538330003619194,
            0.24984830617904663,
            -1.383758306503296
        ],
        "velocity": [
            5.0314764976501465,
            -0.09152379631996155,
            0.024132004007697105
        ],
        "speed": 5.032308848997506,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.819732666015625,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1531.6905517578125,
                1611.005126953125,
                324.6109619140625
            ],
            "velocity": [
                2.9729390144348145,
                0.02174772135913372,
                0.044570017606019974
            ],
            "speed_kmh": 10.704069450489127,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.270075798034668,
                "transform": {
                    "location": {
                        "x": -1531.5694580078125,
                        "y": 1607.320556640625,
                        "z": 324.60552978515625
                    },
                    "rotation": {
                        "roll": -0.0028991696890443563,
                        "pitch": -0.8532408475875854,
                        "yaw": -179.28347778320312
                    }
                },
                "velocity": {
                    "x": -8.268582344055176,
                    "y": -0.09578315168619156,
                    "z": -0.12458891421556473
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035784721374512,
                "transform": {
                    "location": {
                        "x": -1584.9918212890625,
                        "y": 1606.856201171875,
                        "z": 324.3577575683594
                    },
                    "rotation": {
                        "roll": 0.0008471953915432096,
                        "pitch": 0.1369726061820984,
                        "yaw": -179.50709533691406
                    }
                },
                "velocity": {
                    "x": -8.035483360290527,
                    "y": -0.06711140275001526,
                    "z": 0.01822049170732498
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1626.8516845703125,
                        "y": 1606.531494140625,
                        "z": 324.88006591796875
                    },
                    "rotation": {
                        "roll": 4.169645739793282e-10,
                        "pitch": 1.1427793502807617,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.659724235534668,
                "transform": {
                    "location": {
                        "x": -1587.716796875,
                        "y": 1610.5657958984375,
                        "z": 324.37225341796875
                    },
                    "rotation": {
                        "roll": 0.012158510275185108,
                        "pitch": -0.21481627225875854,
                        "yaw": -1.5435487031936646
                    }
                },
                "velocity": {
                    "x": 2.6596896648406982,
                    "y": 0.012500835582613945,
                    "z": -0.0051515959203243256
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.2202558517456055,
                "transform": {
                    "location": {
                        "x": -1571.6436767578125,
                        "y": 1610.658447265625,
                        "z": 324.3319396972656
                    },
                    "rotation": {
                        "roll": -0.01455688290297985,
                        "pitch": 0.14008717238903046,
                        "yaw": 0.7174485325813293
                    }
                },
                "velocity": {
                    "x": 7.219821453094482,
                    "y": 0.0786665678024292,
                    "z": -0.009386186487972736
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9733526706695557,
                "transform": {
                    "location": {
                        "x": -1531.6905517578125,
                        "y": 1611.005126953125,
                        "z": 324.6109619140625
                    },
                    "rotation": {
                        "roll": -0.00897216796875,
                        "pitch": 1.1777294874191284,
                        "yaw": 0.19880126416683197
                    }
                },
                "velocity": {
                    "x": 2.9729390144348145,
                    "y": 0.02174772135913372,
                    "z": 0.044570017606019974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.018889427185059,
                "transform": {
                    "location": {
                        "x": -1511.1201171875,
                        "y": 1611.1746826171875,
                        "z": 324.91357421875
                    },
                    "rotation": {
                        "roll": -0.006561279296875,
                        "pitch": 0.8963119983673096,
                        "yaw": 0.12043987959623337
                    }
                },
                "velocity": {
                    "x": 5.018066883087158,
                    "y": 0.037117112427949905,
                    "z": 0.0829465240240097
                },
                "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": -0.1335388571023941,
        "expert_target_speed": 6.084032582044833,
        "target_point": [
            33.79933494533451,
            0.9027808565205354
        ],
        "target_point_next": [
            33.79933494533451,
            0.9027808565205354
        ]
    },
    "520": {
        "acceleration": [
            0.27314186096191406,
            0.04862084984779358,
            0.11259917169809341
        ],
        "angular_velocity": [
            -0.09024395048618317,
            -0.4715690016746521,
            -0.021440817043185234
        ],
        "forward_vector": [
            0.9998152256011963,
            -0.01835850067436695,
            0.005696265958249569
        ],
        "right_vector": [
            0.018353329971432686,
            0.9998310804367065,
            0.0009587221429683268
        ],
        "location": [
            -1553.2568359375,
            1610.8878173828125,
            324.3644104003906
        ],
        "rotation": [
            -0.0549316331744194,
            0.32637375593185425,
            -1.0519407987594604
        ],
        "velocity": [
            5.004071235656738,
            -0.06486956030130386,
            0.03599940240383148
        ],
        "speed": 5.004491681617709,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.53272247314453,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1530.7259521484375,
                1611.011474609375,
                324.6243896484375
            ],
            "velocity": [
                4.816628456115723,
                0.03628174588084221,
                0.07266908138990402
            ],
            "speed_kmh": 17.342327661182157,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.145392417907715,
                "transform": {
                    "location": {
                        "x": -1533.623291015625,
                        "y": 1607.29736328125,
                        "z": 324.5748291015625
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": -0.8566832542419434,
                        "yaw": -179.37576293945312
                    }
                },
                "velocity": {
                    "x": -8.144119262695312,
                    "y": -0.08611318469047546,
                    "z": -0.11544164270162582
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0230712890625,
                "transform": {
                    "location": {
                        "x": -1586.9993896484375,
                        "y": 1606.8394775390625,
                        "z": 324.3622741699219
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.1320207118988037,
                        "yaw": -179.5310516357422
                    }
                },
                "velocity": {
                    "x": -8.02276611328125,
                    "y": -0.06754530221223831,
                    "z": 0.01838117465376854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1628.933837890625,
                        "y": 1606.55859375,
                        "z": 324.92230224609375
                    },
                    "rotation": {
                        "roll": 4.169645739793282e-10,
                        "pitch": 1.1427793502807617,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.660264015197754,
                "transform": {
                    "location": {
                        "x": -1586.92822265625,
                        "y": 1610.564453125,
                        "z": 324.37066650390625
                    },
                    "rotation": {
                        "roll": 0.00970472488552332,
                        "pitch": -0.22720623016357422,
                        "yaw": -0.965240478515625
                    }
                },
                "velocity": {
                    "x": 3.660215377807617,
                    "y": 0.01715407334268093,
                    "z": -0.007797660771757364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.905301570892334,
                "transform": {
                    "location": {
                        "x": -1569.6925048828125,
                        "y": 1610.6787109375,
                        "z": 324.32965087890625
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.1424914002418518,
                        "yaw": 0.5844042897224426
                    }
                },
                "velocity": {
                    "x": 7.904901027679443,
                    "y": 0.07905545830726624,
                    "z": -0.00901098269969225
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.817313194274902,
                "transform": {
                    "location": {
                        "x": -1530.7259521484375,
                        "y": 1611.011474609375,
                        "z": 324.6243896484375
                    },
                    "rotation": {
                        "roll": -0.007171630859375,
                        "pitch": 1.3167921304702759,
                        "yaw": 0.2925376892089844
                    }
                },
                "velocity": {
                    "x": 4.816628456115723,
                    "y": 0.03628174588084221,
                    "z": 0.07266908138990402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.9930806159973145,
                "transform": {
                    "location": {
                        "x": -1509.86962890625,
                        "y": 1611.1826171875,
                        "z": 324.9332580566406
                    },
                    "rotation": {
                        "roll": -0.0028381345327943563,
                        "pitch": 0.934643030166626,
                        "yaw": 0.31023555994033813
                    }
                },
                "velocity": {
                    "x": 4.992306232452393,
                    "y": 0.04036441072821617,
                    "z": 0.07810813933610916
                },
                "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": -0.10723396390676498,
        "expert_target_speed": 6.069807972577378,
        "target_point": [
            32.55200654604315,
            0.7041805639208231
        ],
        "target_point_next": [
            32.55200654604315,
            0.7041805639208231
        ]
    },
    "525": {
        "acceleration": [
            -1.5931034088134766,
            0.04513561725616455,
            -0.00630892813205719
        ],
        "angular_velocity": [
            -0.03067772649228573,
            -0.020766332745552063,
            0.3676736056804657
        ],
        "forward_vector": [
            0.9998500347137451,
            -0.01586819812655449,
            0.006942931097000837
        ],
        "right_vector": [
            0.015865545719861984,
            0.9998740553855896,
            0.00043674788321368396
        ],
        "location": [
            -1552.0242919921875,
            1610.8699951171875,
            324.37249755859375
        ],
        "rotation": [
            -0.02502441219985485,
            0.3978038430213928,
            -0.9092409014701843
        ],
        "velocity": [
            4.793824195861816,
            -0.06641188263893127,
            0.03382926061749458
        ],
        "speed": 4.794284196726957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.633020401000977,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1529.3934326171875,
                1611.021240234375,
                324.6461181640625
            ],
            "velocity": [
                5.87539005279541,
                0.046403221786022186,
                0.0889926329255104
            ],
            "speed_kmh": 21.154489939814653,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.022285461425781,
                "transform": {
                    "location": {
                        "x": -1535.6402587890625,
                        "y": 1607.2762451171875,
                        "z": 324.54656982421875
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": -0.7618392705917358,
                        "yaw": -179.41163635253906
                    }
                },
                "velocity": {
                    "x": -8.02112865447998,
                    "y": -0.08246123790740967,
                    "z": -0.1084773913025856
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023842811584473,
                "transform": {
                    "location": {
                        "x": -1589.0047607421875,
                        "y": 1606.8228759765625,
                        "z": 324.3670349121094
                    },
                    "rotation": {
                        "roll": 0.000333267729729414,
                        "pitch": 0.14371399581432343,
                        "yaw": -179.5036163330078
                    }
                },
                "velocity": {
                    "x": -8.023519515991211,
                    "y": -0.06767245382070541,
                    "z": 0.024559754878282547
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6010,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1631.016357421875,
                        "y": 1606.5677490234375,
                        "z": 324.9647521972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2539952993392944,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.786135673522949,
                "transform": {
                    "location": {
                        "x": -1585.864501953125,
                        "y": 1610.5654296875,
                        "z": 324.3683776855469
                    },
                    "rotation": {
                        "roll": 0.007317970506846905,
                        "pitch": -0.2396918088197708,
                        "yaw": -0.4547118544578552
                    }
                },
                "velocity": {
                    "x": 4.786059856414795,
                    "y": 0.024569861590862274,
                    "z": -0.011050672270357609
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8891706466674805,
                "transform": {
                    "location": {
                        "x": -1567.841064453125,
                        "y": 1610.696533203125,
                        "z": 324.32916259765625
                    },
                    "rotation": {
                        "roll": 0.0015787770971655846,
                        "pitch": -0.08675705641508102,
                        "yaw": 0.5604310035705566
                    }
                },
                "velocity": {
                    "x": 6.8888702392578125,
                    "y": 0.06434673070907593,
                    "z": 0.0005880164681002498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.876246929168701,
                "transform": {
                    "location": {
                        "x": -1529.3934326171875,
                        "y": 1611.021240234375,
                        "z": 324.6461181640625
                    },
                    "rotation": {
                        "roll": -0.004730223678052425,
                        "pitch": 1.150012493133545,
                        "yaw": 0.38043785095214844
                    }
                },
                "velocity": {
                    "x": 5.87539005279541,
                    "y": 0.046403221786022186,
                    "z": 0.0889926329255104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.9817728996276855,
                "transform": {
                    "location": {
                        "x": -1508.619384765625,
                        "y": 1611.192138671875,
                        "z": 324.9535217285156
                    },
                    "rotation": {
                        "roll": -0.0009460450382903218,
                        "pitch": 0.9548194408416748,
                        "yaw": 0.4055408239364624
                    }
                },
                "velocity": {
                    "x": 4.980965614318848,
                    "y": 0.042356666177511215,
                    "z": 0.0790371522307396
                },
                "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": -0.08449530601501465,
        "expert_target_speed": 5.8753401761018615,
        "target_point": [
            31.320987874569184,
            0.6213644805015975
        ],
        "target_point_next": [
            31.320987874569184,
            0.6213644805015975
        ]
    },
    "530": {
        "acceleration": [
            -1.59576416015625,
            0.04601031541824341,
            0.014758259057998657
        ],
        "angular_velocity": [
            0.0006408721674233675,
            0.18966013193130493,
            0.338728666305542
        ],
        "forward_vector": [
            0.9998759031295776,
            -0.014335531741380692,
            0.006532979663461447
        ],
        "right_vector": [
            0.014333275146782398,
            0.9998972415924072,
            0.0003920088929589838
        ],
        "location": [
            -1550.8843994140625,
            1610.8546142578125,
            324.3811340332031
        ],
        "rotation": [
            -0.0224609337747097,
            0.3743148446083069,
            -0.8214110732078552
        ],
        "velocity": [
            4.3568644523620605,
            -0.05412867292761803,
            0.03701910749077797
        ],
        "speed": 4.357200680424194,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.14129638671875,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1527.74560546875,
                1611.033447265625,
                324.6706237792969
            ],
            "velocity": [
                7.491779804229736,
                0.06390569359064102,
                0.11254648119211197
            ],
            "speed_kmh": 26.974431561570277,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081929206848145,
                "transform": {
                    "location": {
                        "x": -1537.652587890625,
                        "y": 1607.2564697265625,
                        "z": 324.52001953125
                    },
                    "rotation": {
                        "roll": -0.0007629390456713736,
                        "pitch": -0.7322713732719421,
                        "yaw": -179.45040893554688
                    }
                },
                "velocity": {
                    "x": -8.08092212677002,
                    "y": -0.07517359405755997,
                    "z": -0.1030396819114685
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029383659362793,
                "transform": {
                    "location": {
                        "x": -1591.0123291015625,
                        "y": 1606.8062744140625,
                        "z": 324.3736267089844
                    },
                    "rotation": {
                        "roll": 3.818522236542776e-05,
                        "pitch": 0.2350541204214096,
                        "yaw": -179.52996826171875
                    }
                },
                "velocity": {
                    "x": -8.029047966003418,
                    "y": -0.06772106140851974,
                    "z": 0.028479717671871185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2604827880859375,
                "transform": {
                    "location": {
                        "x": -1584.572021484375,
                        "y": 1610.5697021484375,
                        "z": 324.3653869628906
                    },
                    "rotation": {
                        "roll": 0.005012793932110071,
                        "pitch": -0.1885405331850052,
                        "yaw": -0.0724487230181694
                    }
                },
                "velocity": {
                    "x": 5.260354995727539,
                    "y": 0.03463751822710037,
                    "z": -0.011944131925702095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4350013732910156,
                "transform": {
                    "location": {
                        "x": -1566.4212646484375,
                        "y": 1610.708984375,
                        "z": 324.32861328125
                    },
                    "rotation": {
                        "roll": 0.001225244952365756,
                        "pitch": -0.43047264218330383,
                        "yaw": 0.514811635017395
                    }
                },
                "velocity": {
                    "x": 3.434875011444092,
                    "y": 0.029368743300437927,
                    "z": -0.0024803257547318935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.492897987365723,
                "transform": {
                    "location": {
                        "x": -1527.74560546875,
                        "y": 1611.033447265625,
                        "z": 324.6706237792969
                    },
                    "rotation": {
                        "roll": -0.0027465810999274254,
                        "pitch": 1.1884801387786865,
                        "yaw": 0.5214122533798218
                    }
                },
                "velocity": {
                    "x": 7.491779804229736,
                    "y": 0.06390569359064102,
                    "z": 0.11254648119211197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.7371110916137695,
                "transform": {
                    "location": {
                        "x": -1507.391845703125,
                        "y": 1611.2025146484375,
                        "z": 324.9738464355469
                    },
                    "rotation": {
                        "roll": -0.0006408693152479827,
                        "pitch": 0.9430509805679321,
                        "yaw": 0.4526922106742859
                    }
                },
                "velocity": {
                    "x": 4.736287593841553,
                    "y": 0.040837693959474564,
                    "z": 0.07831130921840668
                },
                "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": -0.058891281485557556,
        "expert_target_speed": 5.464308304229367,
        "target_point": [
            30.181907635674328,
            0.572389435323706
        ],
        "target_point_next": [
            30.181907635674328,
            0.572389435323706
        ]
    },
    "535": {
        "acceleration": [
            -0.8647251129150391,
            0.01569591462612152,
            -0.023100078105926514
        ],
        "angular_velocity": [
            0.015877297148108482,
            -0.12537316977977753,
            -0.27768734097480774
        ],
        "forward_vector": [
            0.9998853802680969,
            -0.013742264360189438,
            0.006354288663715124
        ],
        "right_vector": [
            0.01374108623713255,
            0.9999055862426758,
            0.00022902720957063138
        ],
        "location": [
            -1549.8377685546875,
            1610.8406982421875,
            324.3904113769531
        ],
        "rotation": [
            -0.013122557662427425,
            0.3640763759613037,
            -0.7874144911766052
        ],
        "velocity": [
            4.059835433959961,
            -0.05331045389175415,
            0.03589079901576042
        ],
        "speed": 4.060185433613963,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.047582626342773,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1525.7930908203125,
                1611.0498046875,
                324.7001953125
            ],
            "velocity": [
                8.545345306396484,
                0.07485774159431458,
                0.12848618626594543
            ],
            "speed_kmh": 30.76790052442137,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.066176414489746,
                "transform": {
                    "location": {
                        "x": -1539.671630859375,
                        "y": 1607.23779296875,
                        "z": 324.49420166015625
                    },
                    "rotation": {
                        "roll": 7.22718468750827e-05,
                        "pitch": -0.7407817840576172,
                        "yaw": -179.47799682617188
                    }
                },
                "velocity": {
                    "x": -8.065181732177734,
                    "y": -0.07246461510658264,
                    "z": -0.1038651168346405
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023627281188965,
                "transform": {
                    "location": {
                        "x": -1593.0189208984375,
                        "y": 1606.7896728515625,
                        "z": 324.38177490234375
                    },
                    "rotation": {
                        "roll": 0.00014458302757702768,
                        "pitch": 0.26088589429855347,
                        "yaw": -179.50283813476562
                    }
                },
                "velocity": {
                    "x": -8.023260116577148,
                    "y": -0.0677042156457901,
                    "z": 0.03612012788653374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8793816566467285,
                "transform": {
                    "location": {
                        "x": -1583.15625,
                        "y": 1610.5775146484375,
                        "z": 324.3620300292969
                    },
                    "rotation": {
                        "roll": 0.0026378631591796875,
                        "pitch": -0.1810000091791153,
                        "yaw": 0.16134999692440033
                    }
                },
                "velocity": {
                    "x": 5.879209995269775,
                    "y": 0.043132126331329346,
                    "z": -0.012648477219045162
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5884366035461426,
                "transform": {
                    "location": {
                        "x": -1565.859375,
                        "y": 1610.7139892578125,
                        "z": 324.32879638671875
                    },
                    "rotation": {
                        "roll": 4.3063781049568206e-05,
                        "pitch": -0.22277343273162842,
                        "yaw": 0.5085669755935669
                    }
                },
                "velocity": {
                    "x": 2.588334083557129,
                    "y": 0.023035980761051178,
                    "z": 0.0007965469267219305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.546638488769531,
                "transform": {
                    "location": {
                        "x": -1525.7930908203125,
                        "y": 1611.0498046875,
                        "z": 324.7001953125
                    },
                    "rotation": {
                        "roll": -0.0017395020695403218,
                        "pitch": 1.168215036392212,
                        "yaw": 0.5530880093574524
                    }
                },
                "velocity": {
                    "x": 8.545345306396484,
                    "y": 0.07485774159431458,
                    "z": 0.12848618626594543
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219395160675049,
                "transform": {
                    "location": {
                        "x": -1506.2867431640625,
                        "y": 1611.2117919921875,
                        "z": 324.9922790527344
                    },
                    "rotation": {
                        "roll": 5.295347364153713e-05,
                        "pitch": 0.9318153262138367,
                        "yaw": 0.47848451137542725
                    }
                },
                "velocity": {
                    "x": 4.218654155731201,
                    "y": 0.036553192883729935,
                    "z": 0.07012885808944702
                },
                "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": -0.04097840562462807,
        "expert_target_speed": 5.185441092560108,
        "target_point": [
            29.13551866068375,
            0.5540135771274374
        ],
        "target_point_next": [
            29.13551866068375,
            0.5540135771274374
        ]
    },
    "540": {
        "acceleration": [
            -0.39513587951660156,
            0.011698007583618164,
            -0.007499530911445618
        ],
        "angular_velocity": [
            0.005979378242045641,
            -0.18990935385227203,
            0.49906376004219055
        ],
        "forward_vector": [
            0.9998863935470581,
            -0.013286849483847618,
            0.00711661484092474
        ],
        "right_vector": [
            0.013285521417856216,
            0.9999117255210876,
            0.0002338196209166199
        ],
        "location": [
            -1548.8426513671875,
            1610.8277587890625,
            324.3990173339844
        ],
        "rotation": [
            -0.013397216796875,
            0.40775543451309204,
            -0.7613220810890198
        ],
        "velocity": [
            3.9221858978271484,
            -0.05012170970439911,
            0.033996790647506714
        ],
        "speed": 3.9225061380318893,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.18136215209961,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1523.6646728515625,
                1611.068359375,
                324.7344970703125
            ],
            "velocity": [
                8.217912673950195,
                0.07145137339830399,
                0.12422382086515427
            ],
            "speed_kmh": 29.5889835483986,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095040321350098,
                "transform": {
                    "location": {
                        "x": -1541.69189453125,
                        "y": 1607.2193603515625,
                        "z": 324.46807861328125
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": -0.7412120699882507,
                        "yaw": -179.48785400390625
                    }
                },
                "velocity": {
                    "x": -8.094045639038086,
                    "y": -0.07148005068302155,
                    "z": -0.10485056042671204
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022141456604004,
                "transform": {
                    "location": {
                        "x": -1595.0252685546875,
                        "y": 1606.7723388671875,
                        "z": 324.3919982910156
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 0.3159235417842865,
                        "yaw": -179.52117919921875
                    }
                },
                "velocity": {
                    "x": -8.021663665771484,
                    "y": -0.0690152645111084,
                    "z": 0.0538618378341198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.570662498474121,
                "transform": {
                    "location": {
                        "x": -1581.4859619140625,
                        "y": 1610.5885009765625,
                        "z": 324.35906982421875
                    },
                    "rotation": {
                        "roll": 0.002447795355692506,
                        "pitch": -0.2790473699569702,
                        "yaw": 0.32249075174331665
                    }
                },
                "velocity": {
                    "x": 7.570424556732178,
                    "y": 0.05747131258249283,
                    "z": -0.017257709056138992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.130251884460449,
                "transform": {
                    "location": {
                        "x": -1565.0054931640625,
                        "y": 1610.7215576171875,
                        "z": 324.3293151855469
                    },
                    "rotation": {
                        "roll": 5.8095232816413045e-05,
                        "pitch": 0.13651497662067413,
                        "yaw": 0.5110804438591003
                    }
                },
                "velocity": {
                    "x": 4.130086898803711,
                    "y": 0.036921173334121704,
                    "z": -0.00010835647117346525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.219161987304688,
                "transform": {
                    "location": {
                        "x": -1523.6646728515625,
                        "y": 1611.068359375,
                        "z": 324.7344970703125
                    },
                    "rotation": {
                        "roll": 0.0010722015285864472,
                        "pitch": 0.9033061265945435,
                        "yaw": 0.5226091742515564
                    }
                },
                "velocity": {
                    "x": 8.217912673950195,
                    "y": 0.07145137339830399,
                    "z": 0.12422382086515427
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.986133098602295,
                "transform": {
                    "location": {
                        "x": -1505.2623291015625,
                        "y": 1611.220458984375,
                        "z": 325.0091552734375
                    },
                    "rotation": {
                        "roll": 0.0006149318651296198,
                        "pitch": 0.9378464221954346,
                        "yaw": 0.4929679036140442
                    }
                },
                "velocity": {
                    "x": 3.985429525375366,
                    "y": 0.0356549434363842,
                    "z": 0.06585022062063217
                },
                "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": -0.020365450531244278,
        "expert_target_speed": 5.055657927095507,
        "target_point": [
            28.140566657266493,
            0.5404617637768863
        ],
        "target_point_next": [
            28.140566657266493,
            0.5404617637768863
        ]
    },
    "545": {
        "acceleration": [
            -0.27771949768066406,
            0.11707618832588196,
            0.006262660026550293
        ],
        "angular_velocity": [
            0.09261900186538696,
            -0.10474540293216705,
            -0.14916092157363892
        ],
        "forward_vector": [
            0.9998857975006104,
            -0.012965641915798187,
            0.007767956238240004
        ],
        "right_vector": [
            0.012963848188519478,
            0.9999158978462219,
            0.0002812213497236371
        ],
        "location": [
            -1547.8724365234375,
            1610.8154296875,
            324.4072265625
        ],
        "rotation": [
            -0.01611328125,
            0.4450756013393402,
            -0.7429198026657104
        ],
        "velocity": [
            3.8435990810394287,
            -0.043085627257823944,
            0.03414928540587425
        ],
        "speed": 3.8438405621257683,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.634483337402344,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1522.2418212890625,
                1611.0809326171875,
                324.76470947265625
            ],
            "velocity": [
                2.6321229934692383,
                0.02313343435525894,
                0.037920866161584854
            ],
            "speed_kmh": 9.47699203461202,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051426887512207,
                "transform": {
                    "location": {
                        "x": -1543.7103271484375,
                        "y": 1607.2017822265625,
                        "z": 324.4443359375
                    },
                    "rotation": {
                        "roll": -0.0003051759267691523,
                        "pitch": -0.628691554069519,
                        "yaw": -179.4950714111328
                    }
                },
                "velocity": {
                    "x": -8.050728797912598,
                    "y": -0.07065438479185104,
                    "z": -0.07903453707695007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025400161743164,
                "transform": {
                    "location": {
                        "x": -1597.032958984375,
                        "y": 1606.755126953125,
                        "z": 324.40533447265625
                    },
                    "rotation": {
                        "roll": -0.0007324219914153218,
                        "pitch": 0.496308833360672,
                        "yaw": -179.49795532226562
                    }
                },
                "velocity": {
                    "x": -8.024896621704102,
                    "y": -0.06836806982755661,
                    "z": 0.05835761874914169
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7220563888549805,
                "transform": {
                    "location": {
                        "x": -1579.5206298828125,
                        "y": 1610.6031494140625,
                        "z": 324.3538513183594
                    },
                    "rotation": {
                        "roll": 0.0017536778468638659,
                        "pitch": -0.17600031197071075,
                        "yaw": 0.40981000661849976
                    }
                },
                "velocity": {
                    "x": 7.721794128417969,
                    "y": 0.06110721081495285,
                    "z": -0.01777702383697033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.014101028442383,
                "transform": {
                    "location": {
                        "x": -1563.98681640625,
                        "y": 1610.73046875,
                        "z": 324.3291015625
                    },
                    "rotation": {
                        "roll": 4.030106356367469e-05,
                        "pitch": 0.024219850078225136,
                        "yaw": 0.506844699382782
                    }
                },
                "velocity": {
                    "x": 4.013943672180176,
                    "y": 0.0355198010802269,
                    "z": -0.001191148767247796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.632497787475586,
                "transform": {
                    "location": {
                        "x": -1522.2418212890625,
                        "y": 1611.0809326171875,
                        "z": 324.76470947265625
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.19534340500831604,
                        "yaw": 0.509728729724884
                    }
                },
                "velocity": {
                    "x": 2.6321229934692383,
                    "y": 0.02313343435525894,
                    "z": 0.037920866161584854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.909658193588257,
                "transform": {
                    "location": {
                        "x": -1504.2723388671875,
                        "y": 1611.2291259765625,
                        "z": 325.025390625
                    },
                    "rotation": {
                        "roll": 0.000362905120709911,
                        "pitch": 0.9440208673477173,
                        "yaw": 0.4978175759315491
                    }
                },
                "velocity": {
                    "x": 3.9089667797088623,
                    "y": 0.0339999794960022,
                    "z": 0.06519734859466553
                },
                "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": 0.0015833538491278887,
        "expert_target_speed": 4.954649953714391,
        "target_point": [
            27.170445694069755,
            0.5311693150659438
        ],
        "target_point_next": [
            27.170445694069755,
            0.5311693150659438
        ]
    },
    "550": {
        "acceleration": [
            0.03876686096191406,
            -0.007649436593055725,
            -0.012053176760673523
        ],
        "angular_velocity": [
            -0.037965819239616394,
            -0.12801282107830048,
            0.8455132246017456
        ],
        "forward_vector": [
            0.9999072551727295,
            -0.010857127606868744,
            0.00822308287024498
        ],
        "right_vector": [
            0.010854160413146019,
            0.9999410510063171,
            0.0004053194134030491
        ],
        "location": [
            -1546.9169921875,
            1610.8065185546875,
            324.4154357910156
        ],
        "rotation": [
            -0.023223876953125,
            0.47115325927734375,
            -0.622100830078125
        ],
        "velocity": [
            3.814173460006714,
            -0.03127594292163849,
            0.032507121562957764
        ],
        "speed": 3.814301688071517,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.281978607177734,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1521.6390380859375,
                1611.0859375,
                324.76947021484375
            ],
            "velocity": [
                2.437969207763672,
                0.021541429683566093,
                0.03726169466972351
            ],
            "speed_kmh": 8.778056753810516,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085485458374023,
                "transform": {
                    "location": {
                        "x": -1545.7283935546875,
                        "y": 1607.18408203125,
                        "z": 324.42364501953125
                    },
                    "rotation": {
                        "roll": 0.0002964552550110966,
                        "pitch": -0.4684416651725769,
                        "yaw": -179.5019989013672
                    }
                },
                "velocity": {
                    "x": -8.084877967834473,
                    "y": -0.07006688416004181,
                    "z": -0.07010965049266815
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024079322814941,
                "transform": {
                    "location": {
                        "x": -1599.038818359375,
                        "y": 1606.738037109375,
                        "z": 324.42230224609375
                    },
                    "rotation": {
                        "roll": 0.00031212138128466904,
                        "pitch": 0.5084187388420105,
                        "yaw": -179.53033447265625
                    }
                },
                "velocity": {
                    "x": -8.023493766784668,
                    "y": -0.06653358042240143,
                    "z": 0.07054702937602997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.849667072296143,
                "transform": {
                    "location": {
                        "x": -1577.7083740234375,
                        "y": 1610.617431640625,
                        "z": 324.34881591796875
                    },
                    "rotation": {
                        "roll": 0.00034229911398142576,
                        "pitch": -0.05456637963652611,
                        "yaw": 0.4486788511276245
                    }
                },
                "velocity": {
                    "x": 6.849418640136719,
                    "y": 0.056166872382164,
                    "z": -0.01570066437125206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.136390209197998,
                "transform": {
                    "location": {
                        "x": -1562.8487548828125,
                        "y": 1610.740234375,
                        "z": 324.3302307128906
                    },
                    "rotation": {
                        "roll": 0.00031016956199891865,
                        "pitch": 0.1801803857088089,
                        "yaw": 0.5055345296859741
                    }
                },
                "velocity": {
                    "x": 5.136176586151123,
                    "y": 0.04420012980699539,
                    "z": 0.01554744690656662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4383490085601807,
                "transform": {
                    "location": {
                        "x": -1521.6390380859375,
                        "y": 1611.0859375,
                        "z": 324.76947021484375
                    },
                    "rotation": {
                        "roll": 0.0003157379978802055,
                        "pitch": 0.32153797149658203,
                        "yaw": 0.5060634016990662
                    }
                },
                "velocity": {
                    "x": 2.437969207763672,
                    "y": 0.021541429683566093,
                    "z": 0.03726169466972351
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.850752592086792,
                "transform": {
                    "location": {
                        "x": -1503.2965087890625,
                        "y": 1611.23779296875,
                        "z": 325.04266357421875
                    },
                    "rotation": {
                        "roll": 0.0003500884340610355,
                        "pitch": 0.9925835132598877,
                        "yaw": 0.4964773654937744
                    }
                },
                "velocity": {
                    "x": 3.849947452545166,
                    "y": 0.033306337893009186,
                    "z": 0.07134789973497391
                },
                "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": 0.008885804563760757,
        "expert_target_speed": 4.921518087979451,
        "target_point": [
            26.21602058791309,
            0.47241096853820547
        ],
        "target_point_next": [
            26.21602058791309,
            0.47241096853820547
        ]
    },
    "555": {
        "acceleration": [
            0.3826332092285156,
            0.024249516427516937,
            0.008351504802703857
        ],
        "angular_velocity": [
            0.026148894801735878,
            -0.14690011739730835,
            -0.030294928699731827
        ],
        "forward_vector": [
            0.9999180436134338,
            -0.009255054406821728,
            0.00884640496224165
        ],
        "right_vector": [
            0.00925240945070982,
            0.9999570846557617,
            0.0003398059925530106
        ],
        "location": [
            -1545.95654296875,
            1610.799072265625,
            324.4235534667969
        ],
        "rotation": [
            -0.0194702111184597,
            0.506868302822113,
            -0.5303038954734802
        ],
        "velocity": [
            3.8785269260406494,
            -0.025856198742985725,
            0.03304022550582886
        ],
        "speed": 3.878613110254201,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.994277954101562,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1520.9664306640625,
                1611.091796875,
                324.7735900878906
            ],
            "velocity": [
                2.9397923946380615,
                0.024674339219927788,
                0.04488687589764595
            ],
            "speed_kmh": 10.58485893140168,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052694320678711,
                "transform": {
                    "location": {
                        "x": -1547.7452392578125,
                        "y": 1607.16650390625,
                        "z": 324.4069519042969
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -0.48596110939979553,
                        "yaw": -179.5042724609375
                    }
                },
                "velocity": {
                    "x": -8.052107810974121,
                    "y": -0.06968656182289124,
                    "z": -0.06771475076675415
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020299911499023,
                "transform": {
                    "location": {
                        "x": -1601.044921875,
                        "y": 1606.7215576171875,
                        "z": 324.4420166015625
                    },
                    "rotation": {
                        "roll": 0.0002716833841986954,
                        "pitch": 0.6012547016143799,
                        "yaw": -179.50494384765625
                    }
                },
                "velocity": {
                    "x": -8.019522666931152,
                    "y": -0.06727442890405655,
                    "z": 0.08910514414310455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.716885566711426,
                "transform": {
                    "location": {
                        "x": -1576.470703125,
                        "y": 1610.6278076171875,
                        "z": 324.3435974121094
                    },
                    "rotation": {
                        "roll": 0.001367884804494679,
                        "pitch": 0.20870324969291687,
                        "yaw": 0.5533803105354309
                    }
                },
                "velocity": {
                    "x": 2.7167069911956787,
                    "y": 0.03039426915347576,
                    "z": -0.006860637571662664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.45658540725708,
                "transform": {
                    "location": {
                        "x": -1561.5052490234375,
                        "y": 1610.751953125,
                        "z": 324.33306884765625
                    },
                    "rotation": {
                        "roll": 0.0005275895819067955,
                        "pitch": 0.24667909741401672,
                        "yaw": 0.5104506611824036
                    }
                },
                "velocity": {
                    "x": 5.456373691558838,
                    "y": 0.04688657820224762,
                    "z": 0.010402850806713104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9402387142181396,
                "transform": {
                    "location": {
                        "x": -1520.9664306640625,
                        "y": 1611.091796875,
                        "z": 324.7735900878906
                    },
                    "rotation": {
                        "roll": 0.0011003606487065554,
                        "pitch": 1.0925569534301758,
                        "yaw": 0.5021204948425293
                    }
                },
                "velocity": {
                    "x": 2.9397923946380615,
                    "y": 0.024674339219927788,
                    "z": 0.04488687589764595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6968612670898438,
                "transform": {
                    "location": {
                        "x": -1502.340087890625,
                        "y": 1611.24609375,
                        "z": 325.0598449707031
                    },
                    "rotation": {
                        "roll": 0.00010061248030979186,
                        "pitch": 1.048823356628418,
                        "yaw": 0.49564728140830994
                    }
                },
                "velocity": {
                    "x": 3.6960864067077637,
                    "y": 0.03210243210196495,
                    "z": 0.06853332370519638
                },
                "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": 0.02338528074324131,
        "expert_target_speed": 4.984694283383358,
        "target_point": [
            25.256266773663825,
            0.4289674684539708
        ],
        "target_point_next": [
            25.256266773663825,
            0.4289674684539708
        ]
    },
    "560": {
        "acceleration": [
            0.4244709014892578,
            -0.03264516592025757,
            0.09925350546836853
        ],
        "angular_velocity": [
            -0.06882090866565704,
            -0.3259167969226837,
            0.5563917756080627
        ],
        "forward_vector": [
            0.9999246001243591,
            -0.007744044065475464,
            0.00952825415879488
        ],
        "right_vector": [
            0.007741822395473719,
            0.9999699592590332,
            0.00027003223658539355
        ],
        "location": [
            -1544.9722900390625,
            1610.79248046875,
            324.4320068359375
        ],
        "rotation": [
            -0.01547241024672985,
            0.5459370017051697,
            -0.4437256157398224
        ],
        "velocity": [
            3.9878604412078857,
            -0.025974014773964882,
            0.04057189077138901
        ],
        "speed": 3.9879450282061604,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.856094360351562,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1520.12060546875,
                1611.0989990234375,
                324.78594970703125
            ],
            "velocity": [
                3.8362388610839844,
                0.033198270946741104,
                0.05778900906443596
            ],
            "speed_kmh": 13.812543828380516,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087459564208984,
                "transform": {
                    "location": {
                        "x": -1549.762451171875,
                        "y": 1607.14892578125,
                        "z": 324.389892578125
                    },
                    "rotation": {
                        "roll": -0.0002136232506018132,
                        "pitch": -0.4919990003108978,
                        "yaw": -179.50628662109375
                    }
                },
                "velocity": {
                    "x": -8.086862564086914,
                    "y": -0.06956231594085693,
                    "z": -0.06940679252147675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02163314819336,
                "transform": {
                    "location": {
                        "x": -1603.051513671875,
                        "y": 1606.7049560546875,
                        "z": 324.46429443359375
                    },
                    "rotation": {
                        "roll": 0.0013444374781101942,
                        "pitch": 0.7535815834999084,
                        "yaw": -179.538330078125
                    }
                },
                "velocity": {
                    "x": -8.020743370056152,
                    "y": -0.06659545749425888,
                    "z": 0.09920566529035568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.656740665435791,
                "transform": {
                    "location": {
                        "x": -1575.912353515625,
                        "y": 1610.6328125,
                        "z": 324.34429931640625
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.03122762404382229,
                        "yaw": 0.5418519973754883
                    }
                },
                "velocity": {
                    "x": 2.656644344329834,
                    "y": 0.0220471303910017,
                    "z": -0.0051074884831905365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.293746471405029,
                "transform": {
                    "location": {
                        "x": -1559.957763671875,
                        "y": 1610.765625,
                        "z": 324.3373107910156
                    },
                    "rotation": {
                        "roll": -0.00024414014478679746,
                        "pitch": 0.5154743194580078,
                        "yaw": 0.5068410038948059
                    }
                },
                "velocity": {
                    "x": 7.29339599609375,
                    "y": 0.06455960869789124,
                    "z": 0.030714377760887146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.836817741394043,
                "transform": {
                    "location": {
                        "x": -1520.12060546875,
                        "y": 1611.0989990234375,
                        "z": 324.78594970703125
                    },
                    "rotation": {
                        "roll": -6.103487976361066e-05,
                        "pitch": 1.1438448429107666,
                        "yaw": 0.49735531210899353
                    }
                },
                "velocity": {
                    "x": 3.8362388610839844,
                    "y": 0.033198270946741104,
                    "z": 0.05778900906443596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9647011756896973,
                "transform": {
                    "location": {
                        "x": -1501.396728515625,
                        "y": 1611.254150390625,
                        "z": 325.0765686035156
                    },
                    "rotation": {
                        "roll": -9.155276347883046e-05,
                        "pitch": 1.111538052558899,
                        "yaw": 0.4992973804473877
                    }
                },
                "velocity": {
                    "x": 3.9638891220092773,
                    "y": 0.03460383042693138,
                    "z": 0.07238773256540298
                },
                "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": 0.03381052240729332,
        "expert_target_speed": 5.095769844498551,
        "target_point": [
            24.272611686519575,
            0.38977144711914957
        ],
        "target_point_next": [
            24.272611686519575,
            0.38977144711914957
        ]
    },
    "565": {
        "acceleration": [
            0.40648460388183594,
            -0.0474085658788681,
            -0.008116140961647034
        ],
        "angular_velocity": [
            -0.015570960938930511,
            -0.4130909740924835,
            -0.7397903203964233
        ],
        "forward_vector": [
            0.9998971819877625,
            -0.00881651695817709,
            0.011310574598610401
        ],
        "right_vector": [
            0.008817652240395546,
            0.9999611377716064,
            -5.052585038356483e-05
        ],
        "location": [
            -1543.9605712890625,
            1610.7830810546875,
            324.44287109375
        ],
        "rotation": [
            0.002895103069022298,
            0.648061990737915,
            -0.5051880478858948
        ],
        "velocity": [
            4.092968463897705,
            -0.046245235949754715,
            0.04576060175895691
        ],
        "speed": 4.093229711158315,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.945999145507812,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1519.019287109375,
                1611.1083984375,
                324.8027038574219
            ],
            "velocity": [
                4.970787525177002,
                0.042067885398864746,
                0.07508514076471329
            ],
            "speed_kmh": 17.89751725606598,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04853630065918,
                "transform": {
                    "location": {
                        "x": -1551.779541015625,
                        "y": 1607.1322021484375,
                        "z": 324.3729553222656
                    },
                    "rotation": {
                        "roll": -3.0517399864038453e-05,
                        "pitch": -0.47259441018104553,
                        "yaw": -179.5167694091797
                    }
                },
                "velocity": {
                    "x": -8.048062324523926,
                    "y": -0.06783666461706161,
                    "z": -0.054966606199741364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022945404052734,
                "transform": {
                    "location": {
                        "x": -1605.056884765625,
                        "y": 1606.6883544921875,
                        "z": 324.49005126953125
                    },
                    "rotation": {
                        "roll": 0.0007073631277307868,
                        "pitch": 0.7478168606758118,
                        "yaw": -179.50723266601562
                    }
                },
                "velocity": {
                    "x": -8.02199649810791,
                    "y": -0.06702722609043121,
                    "z": 0.10364406555891037
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6653778553009033,
                "transform": {
                    "location": {
                        "x": -1575.12353515625,
                        "y": 1610.6392822265625,
                        "z": 324.3440856933594
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.21105965971946716,
                        "yaw": 0.5188582539558411
                    }
                },
                "velocity": {
                    "x": 3.6652462482452393,
                    "y": 0.03011779487133026,
                    "z": -0.007639789488166571
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.000513076782227,
                "transform": {
                    "location": {
                        "x": -1558.1163330078125,
                        "y": 1610.781005859375,
                        "z": 324.34521484375
                    },
                    "rotation": {
                        "roll": 0.0009233999298885465,
                        "pitch": 0.28257855772972107,
                        "yaw": 0.49328017234802246
                    }
                },
                "velocity": {
                    "x": 7.000198841094971,
                    "y": 0.05837266892194748,
                    "z": 0.031463079154491425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.971532821655273,
                "transform": {
                    "location": {
                        "x": -1519.019287109375,
                        "y": 1611.1083984375,
                        "z": 324.8027038574219
                    },
                    "rotation": {
                        "roll": 0.0006672562449239194,
                        "pitch": 1.122480034828186,
                        "yaw": 0.48706626892089844
                    }
                },
                "velocity": {
                    "x": 4.970787525177002,
                    "y": 0.042067885398864746,
                    "z": 0.07508514076471329
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.106072425842285,
                "transform": {
                    "location": {
                        "x": -1500.3619384765625,
                        "y": 1611.2630615234375,
                        "z": 325.09619140625
                    },
                    "rotation": {
                        "roll": 0.0006180215859785676,
                        "pitch": 1.1273362636566162,
                        "yaw": 0.4993823170661926
                    }
                },
                "velocity": {
                    "x": 4.1051201820373535,
                    "y": 0.03572345897555351,
                    "z": 0.08088593930006027
                },
                "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": 0.05680571123957634,
        "expert_target_speed": 5.206345056587705,
        "target_point": [
            23.260417337854356,
            0.41628580410672456
        ],
        "target_point_next": [
            23.260417337854356,
            0.41628580410672456
        ]
    },
    "570": {
        "acceleration": [
            0.3504371643066406,
            -0.035316720604896545,
            0.008614733815193176
        ],
        "angular_velocity": [
            -0.013149114325642586,
            -0.35926535725593567,
            -0.14685994386672974
        ],
        "forward_vector": [
            0.999859094619751,
            -0.01062491349875927,
            0.012998094782233238
        ],
        "right_vector": [
            0.010625912807881832,
            0.9999435544013977,
            -7.829177775420249e-06
        ],
        "location": [
            -1542.9241943359375,
            1610.770751953125,
            324.4541931152344
        ],
        "rotation": [
            0.00044861671631224453,
            0.7447569370269775,
            -0.6088256239891052
        ],
        "velocity": [
            4.184426307678223,
            -0.05558732524514198,
            0.046249035745859146
        ],
        "speed": 4.184795511744571,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.207752227783203,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1517.7215576171875,
                1611.119384765625,
                324.8233947753906
            ],
            "velocity": [
                5.4550676345825195,
                0.04553478956222534,
                0.08261626958847046
            ],
            "speed_kmh": 19.641179609371346,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081707000732422,
                "transform": {
                    "location": {
                        "x": -1553.796875,
                        "y": 1607.115478515625,
                        "z": 324.35992431640625
                    },
                    "rotation": {
                        "roll": 0.0001664622250245884,
                        "pitch": -0.28143110871315,
                        "yaw": -179.51901245117188
                    }
                },
                "velocity": {
                    "x": -8.08130931854248,
                    "y": -0.06701087206602097,
                    "z": -0.04396233335137367
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018265724182129,
                "transform": {
                    "location": {
                        "x": -1607.0625,
                        "y": 1606.671630859375,
                        "z": 324.5190734863281
                    },
                    "rotation": {
                        "roll": 5.689779936801642e-05,
                        "pitch": 0.8855476379394531,
                        "yaw": -179.5341339111328
                    }
                },
                "velocity": {
                    "x": -8.017051696777344,
                    "y": -0.06717978417873383,
                    "z": 0.12226848304271698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.7902512550354,
                "transform": {
                    "location": {
                        "x": -1574.058837890625,
                        "y": 1610.6484375,
                        "z": 324.3419494628906
                    },
                    "rotation": {
                        "roll": -6.103523628553376e-05,
                        "pitch": -0.23898831009864807,
                        "yaw": 0.5019880533218384
                    }
                },
                "velocity": {
                    "x": 4.790072917938232,
                    "y": 0.039902105927467346,
                    "z": -0.010715312324464321
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.932206630706787,
                "transform": {
                    "location": {
                        "x": -1556.728759765625,
                        "y": 1610.792724609375,
                        "z": 324.3503723144531
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.23855116963386536,
                        "yaw": 0.23043662309646606
                    }
                },
                "velocity": {
                    "x": 2.9320507049560547,
                    "y": 0.02840324304997921,
                    "z": 0.010376357473433018
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.455883502960205,
                "transform": {
                    "location": {
                        "x": -1517.7215576171875,
                        "y": 1611.119384765625,
                        "z": 324.8233947753906
                    },
                    "rotation": {
                        "roll": 0.0007259012199938297,
                        "pitch": 1.0211268663406372,
                        "yaw": 0.4829069972038269
                    }
                },
                "velocity": {
                    "x": 5.4550676345825195,
                    "y": 0.04553478956222534,
                    "z": 0.08261626958847046
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9894118309020996,
                "transform": {
                    "location": {
                        "x": -1499.345458984375,
                        "y": 1611.2718505859375,
                        "z": 325.1162414550781
                    },
                    "rotation": {
                        "roll": -0.0003356936213094741,
                        "pitch": 1.1105340719223022,
                        "yaw": 0.49749526381492615
                    }
                },
                "velocity": {
                    "x": 3.9885060787200928,
                    "y": 0.034540269523859024,
                    "z": 0.07766696810722351
                },
                "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": 0.08401905745267868,
        "expert_target_speed": 5.301237586398322,
        "target_point": [
            22.22317682116081,
            0.4596764808273379
        ],
        "target_point_next": [
            22.22317682116081,
            0.4596764808273379
        ]
    },
    "575": {
        "acceleration": [
            0.3219032287597656,
            0.03821417689323425,
            0.039691925048828125
        ],
        "angular_velocity": [
            0.054700035601854324,
            0.003155379556119442,
            -0.5337815880775452
        ],
        "forward_vector": [
            0.9998226165771484,
            -0.012468951754271984,
            0.014112122356891632
        ],
        "right_vector": [
            0.012468668632209301,
            0.9999222159385681,
            0.00010811356332851574
        ],
        "location": [
            -1541.8665771484375,
            1610.7562255859375,
            324.4661865234375
        ],
        "rotation": [
            -0.006195067893713713,
            0.808591902256012,
            -0.7145079970359802
        ],
        "velocity": [
            4.267144203186035,
            -0.061002664268016815,
            0.05439203232526779
        ],
        "speed": 4.26758022488529,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.579038619995117,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1516.2930908203125,
                1611.130859375,
                324.8451232910156
            ],
            "velocity": [
                6.299610614776611,
                0.05216327682137489,
                0.09491666406393051
            ],
            "speed_kmh": 22.681949652878167,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046486854553223,
                "transform": {
                    "location": {
                        "x": -1555.8131103515625,
                        "y": 1607.0987548828125,
                        "z": 324.35028076171875
                    },
                    "rotation": {
                        "roll": 6.25452448730357e-05,
                        "pitch": -0.22704914212226868,
                        "yaw": -179.52406311035156
                    }
                },
                "velocity": {
                    "x": -8.046148300170898,
                    "y": -0.06661604344844818,
                    "z": -0.031840499490499496
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020155906677246,
                "transform": {
                    "location": {
                        "x": -1609.068359375,
                        "y": 1606.6549072265625,
                        "z": 324.55047607421875
                    },
                    "rotation": {
                        "roll": -0.0010375981219112873,
                        "pitch": 0.9976515173912048,
                        "yaw": -179.49957275390625
                    }
                },
                "velocity": {
                    "x": -8.018716812133789,
                    "y": -0.06800810992717743,
                    "z": 0.13587133586406708
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.341042518615723,
                "transform": {
                    "location": {
                        "x": -1572.7708740234375,
                        "y": 1610.6590576171875,
                        "z": 324.33892822265625
                    },
                    "rotation": {
                        "roll": -0.0003662109957076609,
                        "pitch": -0.1867988407611847,
                        "yaw": 0.4864903390407562
                    }
                },
                "velocity": {
                    "x": 5.34084415435791,
                    "y": 0.04438295587897301,
                    "z": -0.012275610119104385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7746853828430176,
                "transform": {
                    "location": {
                        "x": -1556.5391845703125,
                        "y": 1610.7943115234375,
                        "z": 324.3513488769531
                    },
                    "rotation": {
                        "roll": 0.0034917565062642097,
                        "pitch": -0.14285339415073395,
                        "yaw": 0.19604957103729248
                    }
                },
                "velocity": {
                    "x": 0.7746691703796387,
                    "y": 0.003239566693082452,
                    "z": 0.0038190744817256927
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.300541400909424,
                "transform": {
                    "location": {
                        "x": -1516.2930908203125,
                        "y": 1611.130859375,
                        "z": 324.8451232910156
                    },
                    "rotation": {
                        "roll": 0.0001946082920767367,
                        "pitch": 0.9927064776420593,
                        "yaw": 0.5106900930404663
                    }
                },
                "velocity": {
                    "x": 6.299610614776611,
                    "y": 0.05216327682137489,
                    "z": 0.09491666406393051
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.296852111816406,
                "transform": {
                    "location": {
                        "x": -1498.31591796875,
                        "y": 1611.28076171875,
                        "z": 325.1361389160156
                    },
                    "rotation": {
                        "roll": -0.00012207079271320254,
                        "pitch": 1.1190786361694336,
                        "yaw": 0.49366775155067444
                    }
                },
                "velocity": {
                    "x": 4.295904636383057,
                    "y": 0.03611093759536743,
                    "z": 0.0826822817325592
                },
                "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": 0.11153826117515564,
        "expert_target_speed": 5.390133217937356,
        "target_point": [
            21.16457503386613,
            0.5020033900174156
        ],
        "target_point_next": [
            21.16457503386613,
            0.5020033900174156
        ]
    },
    "580": {
        "acceleration": [
            0.29850006103515625,
            0.0022210925817489624,
            0.00933721661567688
        ],
        "angular_velocity": [
            -0.015823107212781906,
            0.03245742246508598,
            0.25083309412002563
        ],
        "forward_vector": [
            0.9998250603675842,
            -0.012464188039302826,
            0.013942861929535866
        ],
        "right_vector": [
            0.012460705824196339,
            0.9999222755432129,
            0.0003365907759871334
        ],
        "location": [
            -1540.7896728515625,
            1610.742431640625,
            324.4803466796875
        ],
        "rotation": [
            -0.0192871056497097,
            0.7988930344581604,
            -0.7142333388328552
        ],
        "velocity": [
            4.344233989715576,
            -0.053615815937519073,
            0.05760926008224487
        ],
        "speed": 4.344564835874677,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.2819881439209,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1514.513671875,
                1611.1458740234375,
                324.8699951171875
            ],
            "velocity": [
                7.813615322113037,
                0.06614553928375244,
                0.11816472560167313
            ],
            "speed_kmh": 28.133239345579717,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081133842468262,
                "transform": {
                    "location": {
                        "x": -1557.829345703125,
                        "y": 1607.0821533203125,
                        "z": 324.3421936035156
                    },
                    "rotation": {
                        "roll": -0.0001831053668865934,
                        "pitch": -0.24182283878326416,
                        "yaw": -179.53073120117188
                    }
                },
                "velocity": {
                    "x": -8.080795288085938,
                    "y": -0.06620604544878006,
                    "z": -0.03293042257428169
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01911449432373,
                "transform": {
                    "location": {
                        "x": -1611.0732421875,
                        "y": 1606.637451171875,
                        "z": 324.58477783203125
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.9935328960418701,
                        "yaw": -179.52218627929688
                    }
                },
                "velocity": {
                    "x": -8.017576217651367,
                    "y": -0.06884065270423889,
                    "z": 0.14117948710918427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.751114845275879,
                "transform": {
                    "location": {
                        "x": -1571.3612060546875,
                        "y": 1610.6705322265625,
                        "z": 324.33648681640625
                    },
                    "rotation": {
                        "roll": 0.00017524772556498647,
                        "pitch": -0.1407497078180313,
                        "yaw": 0.5158008933067322
                    }
                },
                "velocity": {
                    "x": 5.750914573669434,
                    "y": 0.04789425805211067,
                    "z": -0.00315171224065125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.850684404373169,
                "transform": {
                    "location": {
                        "x": -1556.195556640625,
                        "y": 1610.7965087890625,
                        "z": 324.35345458984375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.288869172334671,
                        "yaw": 0.21484211087226868
                    }
                },
                "velocity": {
                    "x": 1.850632905960083,
                    "y": 0.011617904528975487,
                    "z": 0.0074699497781693935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.814788818359375,
                "transform": {
                    "location": {
                        "x": -1514.513671875,
                        "y": 1611.1458740234375,
                        "z": 324.8699951171875
                    },
                    "rotation": {
                        "roll": 3.9487813410232775e-06,
                        "pitch": 1.2315855026245117,
                        "yaw": 0.5391979217529297
                    }
                },
                "velocity": {
                    "x": 7.813615322113037,
                    "y": 0.06614553928375244,
                    "z": 0.11816472560167313
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.37665319442749,
                "transform": {
                    "location": {
                        "x": -1497.2176513671875,
                        "y": 1611.289794921875,
                        "z": 325.1574401855469
                    },
                    "rotation": {
                        "roll": 3.449809082667343e-05,
                        "pitch": 1.1169476509094238,
                        "yaw": 0.48635366559028625
                    }
                },
                "velocity": {
                    "x": 4.375674724578857,
                    "y": 0.036970242857933044,
                    "z": 0.08481495082378387
                },
                "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": 0.12951888144016266,
        "expert_target_speed": 5.478124195498497,
        "target_point": [
            20.087584914575633,
            0.5022688322826331
        ],
        "target_point_next": [
            20.087584914575633,
            0.5022688322826331
        ]
    },
    "585": {
        "acceleration": [
            0.27939796447753906,
            0.0001529604196548462,
            0.005014985799789429
        ],
        "angular_velocity": [
            -0.006051310338079929,
            0.015469834208488464,
            -0.15328922867774963
        ],
        "forward_vector": [
            0.9998282194137573,
            -0.01235450804233551,
            0.013816154561936855
        ],
        "right_vector": [
            0.012351366691291332,
            0.9999236464500427,
            0.0003126253141090274
        ],
        "location": [
            -1539.6943359375,
            1610.728759765625,
            324.4947204589844
        ],
        "rotation": [
            -0.01791382022202015,
            0.7916325330734253,
            -0.70794677734375
        ],
        "velocity": [
            4.415895938873291,
            -0.053671687841415405,
            0.05772610381245613
        ],
        "speed": 4.416222095075537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.149824142456055,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1512.551025390625,
                1611.162109375,
                324.9019470214844
            ],
            "velocity": [
                7.628937721252441,
                0.06629681587219238,
                0.11508670449256897
            ],
            "speed_kmh": 27.468337579808868,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046481132507324,
                "transform": {
                    "location": {
                        "x": -1559.8453369140625,
                        "y": 1607.0655517578125,
                        "z": 324.3337097167969
                    },
                    "rotation": {
                        "roll": 0.00020037326612509787,
                        "pitch": -0.24408362805843353,
                        "yaw": -179.53134155273438
                    }
                },
                "velocity": {
                    "x": -8.04613971710205,
                    "y": -0.06584712862968445,
                    "z": -0.03401961550116539
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1613.1553955078125,
                        "y": 1606.6690673828125,
                        "z": 324.6252136230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0743409395217896,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.447166442871094,
                "transform": {
                    "location": {
                        "x": -1569.6859130859375,
                        "y": 1610.6846923828125,
                        "z": 324.3357238769531
                    },
                    "rotation": {
                        "roll": -9.155289444606751e-05,
                        "pitch": -0.16354204714298248,
                        "yaw": 0.49723368883132935
                    }
                },
                "velocity": {
                    "x": 7.4468865394592285,
                    "y": 0.06434360146522522,
                    "z": -0.005083818454295397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.052797555923462,
                "transform": {
                    "location": {
                        "x": -1555.5909423828125,
                        "y": 1610.8004150390625,
                        "z": 324.3561706542969
                    },
                    "rotation": {
                        "roll": -0.0023803708609193563,
                        "pitch": 0.4057610332965851,
                        "yaw": 0.21875937283039093
                    }
                },
                "velocity": {
                    "x": 3.052701234817505,
                    "y": 0.020296353846788406,
                    "z": 0.013233461417257786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.630093574523926,
                "transform": {
                    "location": {
                        "x": -1512.551025390625,
                        "y": 1611.162109375,
                        "z": 324.9019470214844
                    },
                    "rotation": {
                        "roll": 2.8032860427629203e-05,
                        "pitch": 0.9465685486793518,
                        "yaw": 0.5817447304725647
                    }
                },
                "velocity": {
                    "x": 7.628937721252441,
                    "y": 0.06629681587219238,
                    "z": 0.11508670449256897
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.21628475189209,
                "transform": {
                    "location": {
                        "x": -1496.142333984375,
                        "y": 1611.299072265625,
                        "z": 325.17840576171875
                    },
                    "rotation": {
                        "roll": -0.0002136226394213736,
                        "pitch": 1.1086283922195435,
                        "yaw": 0.49143069982528687
                    }
                },
                "velocity": {
                    "x": 4.215327739715576,
                    "y": 0.03627145290374756,
                    "z": 0.08217015862464905
                },
                "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": 0.1516222506761551,
        "expert_target_speed": 5.553010317676398,
        "target_point": [
            18.992217651301093,
            0.5002029664352937
        ],
        "target_point_next": [
            18.992217651301093,
            0.5002029664352937
        ]
    },
    "590": {
        "acceleration": [
            0.2508258819580078,
            -0.002621561288833618,
            0.009188428521156311
        ],
        "angular_velocity": [
            -0.018650682643055916,
            0.024044020101428032,
            0.1915949285030365
        ],
        "forward_vector": [
            0.9998313784599304,
            -0.012177184224128723,
            0.013744635507464409
        ],
        "right_vector": [
            0.012174248695373535,
            0.9999258518218994,
            0.0002971807261928916
        ],
        "location": [
            -1538.58154296875,
            1610.7149658203125,
            324.5091857910156
        ],
        "rotation": [
            -0.01702881045639515,
            0.7875344157218933,
            -0.697784423828125
        ],
        "velocity": [
            4.482661724090576,
            -0.05397255718708038,
            0.05829610675573349
        ],
        "speed": 4.4829866349963625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.266420364379883,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1511.3221435546875,
                1611.168701171875,
                324.9298400878906
            ],
            "velocity": [
                2.837195873260498,
                0.01887362077832222,
                0.044509075582027435
            ],
            "speed_kmh": 10.215387869397539,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076560020446777,
                "transform": {
                    "location": {
                        "x": -1561.861572265625,
                        "y": 1607.049072265625,
                        "z": 324.3274230957031
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.1343771368265152,
                        "yaw": -179.5287322998047
                    }
                },
                "velocity": {
                    "x": -8.076282501220703,
                    "y": -0.06644290685653687,
                    "z": -0.008424787782132626
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1615.2376708984375,
                        "y": 1606.701171875,
                        "z": 324.665771484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0743409395217896,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.901561260223389,
                "transform": {
                    "location": {
                        "x": -1567.8563232421875,
                        "y": 1610.7000732421875,
                        "z": 324.3337707519531
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.02359147183597088,
                        "yaw": 0.48583927750587463
                    }
                },
                "velocity": {
                    "x": 6.901330947875977,
                    "y": 0.05636775866150856,
                    "z": 0.0007147789001464844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.5616068840026855,
                "transform": {
                    "location": {
                        "x": -1554.625732421875,
                        "y": 1610.8074951171875,
                        "z": 324.3603820800781
                    },
                    "rotation": {
                        "roll": -0.0033569340594112873,
                        "pitch": 0.46794307231903076,
                        "yaw": 0.3344343900680542
                    }
                },
                "velocity": {
                    "x": 4.561438083648682,
                    "y": 0.03409743309020996,
                    "z": 0.019445227459073067
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8376078605651855,
                "transform": {
                    "location": {
                        "x": -1511.3221435546875,
                        "y": 1611.168701171875,
                        "z": 324.9298400878906
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": -0.16033868491649628,
                        "yaw": 0.8648557662963867
                    }
                },
                "velocity": {
                    "x": 2.837195873260498,
                    "y": 0.01887362077832222,
                    "z": 0.044509075582027435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.7403693199157715,
                "transform": {
                    "location": {
                        "x": -1495.027099609375,
                        "y": 1611.30859375,
                        "z": 325.2010803222656
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 1.1801064014434814,
                        "yaw": 0.4905170500278473
                    }
                },
                "velocity": {
                    "x": 4.739102840423584,
                    "y": 0.03977808728814125,
                    "z": 0.1020834892988205
                },
                "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": 0.17649613320827484,
        "expert_target_speed": 5.596637059057489,
        "target_point": [
            17.879427647437083,
            0.4970750334402324
        ],
        "target_point_next": [
            17.879427647437083,
            0.4970750334402324
        ]
    },
    "595": {
        "acceleration": [
            0.03727912902832031,
            0.052304938435554504,
            -0.008523240685462952
        ],
        "angular_velocity": [
            0.05113711208105087,
            0.06973659992218018,
            0.31646981835365295
        ],
        "forward_vector": [
            0.9998465776443481,
            -0.011062590405344963,
            0.013578950427472591
        ],
        "right_vector": [
            0.011056702584028244,
            0.9999387264251709,
            0.0005086167948320508
        ],
        "location": [
            -1537.45556640625,
            1610.703125,
            324.5238342285156
        ],
        "rotation": [
            -0.02914428524672985,
            0.7780404686927795,
            -0.6339110732078552
        ],
        "velocity": [
            4.515527725219727,
            -0.03898707404732704,
            0.05792860686779022
        ],
        "speed": 4.515696029314951,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.8741397857666,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1510.5887451171875,
                1611.176025390625,
                324.93572998046875
            ],
            "velocity": [
                2.920788526535034,
                0.02809586003422737,
                0.04843949154019356
            ],
            "speed_kmh": 10.516770999905741,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041597366333008,
                "transform": {
                    "location": {
                        "x": -1563.877197265625,
                        "y": 1607.032470703125,
                        "z": 324.32415771484375
                    },
                    "rotation": {
                        "roll": 1.4527981875289697e-05,
                        "pitch": 0.027983283624053,
                        "yaw": -179.52601623535156
                    }
                },
                "velocity": {
                    "x": -8.041321754455566,
                    "y": -0.06658467650413513,
                    "z": -0.0007767963106743991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6011,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1617.320556640625,
                        "y": 1606.683837890625,
                        "z": 324.704833984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0743409395217896,
                        "yaw": -179.5197296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.529951095581055,
                "transform": {
                    "location": {
                        "x": -1566.30908203125,
                        "y": 1610.713134765625,
                        "z": 324.3331298828125
                    },
                    "rotation": {
                        "roll": 0.00021329046285245568,
                        "pitch": 0.10832679271697998,
                        "yaw": 0.4829879403114319
                    }
                },
                "velocity": {
                    "x": 5.529754638671875,
                    "y": 0.046582747250795364,
                    "z": 0.0008937549428083003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.436030864715576,
                "transform": {
                    "location": {
                        "x": -1553.3311767578125,
                        "y": 1610.8177490234375,
                        "z": 324.3679504394531
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": 0.49186238646507263,
                        "yaw": 0.4167194068431854
                    }
                },
                "velocity": {
                    "x": 5.435743808746338,
                    "y": 0.04375762864947319,
                    "z": 0.03472723811864853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.921325206756592,
                "transform": {
                    "location": {
                        "x": -1510.5887451171875,
                        "y": 1611.176025390625,
                        "z": 324.93572998046875
                    },
                    "rotation": {
                        "roll": -0.00347900390625,
                        "pitch": 0.5955787897109985,
                        "yaw": 0.782464861869812
                    }
                },
                "velocity": {
                    "x": 2.920788526535034,
                    "y": 0.02809586003422737,
                    "z": 0.04843949154019356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.511281967163086,
                "transform": {
                    "location": {
                        "x": -1493.8704833984375,
                        "y": 1611.3182373046875,
                        "z": 325.225341796875
                    },
                    "rotation": {
                        "roll": -0.0006713864859193563,
                        "pitch": 1.235867977142334,
                        "yaw": 0.48549050092697144
                    }
                },
                "velocity": {
                    "x": 4.510110855102539,
                    "y": 0.03696056827902794,
                    "z": 0.0959010124206543
                },
                "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": 0.19510461390018463,
        "expert_target_speed": 5.626155298725749,
        "target_point": [
            16.753931990346175,
            0.476526733988616
        ],
        "target_point_next": [
            16.753931990346175,
            0.476526733988616
        ]
    },
    "600": {
        "acceleration": [
            0.010776519775390625,
            -0.056009441614151,
            0.0013174116611480713
        ],
        "angular_velocity": [
            -0.11075833439826965,
            0.04043842479586601,
            0.25436288118362427
        ],
        "forward_vector": [
            0.9998664855957031,
            -0.00947667472064495,
            0.013311469927430153
        ],
        "right_vector": [
            0.009472932666540146,
            0.9999550580978394,
            0.0003440499131102115
        ],
        "location": [
            -1536.3272705078125,
            1610.693603515625,
            324.5384216308594
        ],
        "rotation": [
            -0.01971435360610485,
            0.7627135515213013,
            -0.5430296659469604
        ],
        "velocity": [
            4.512107849121094,
            -0.03937643766403198,
            0.05782242491841316
        ],
        "speed": 4.512279661761147,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.54254722595215,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1509.7923583984375,
                1611.1842041015625,
                324.944091796875
            ],
            "velocity": [
                3.480647563934326,
                0.0317019484937191,
                0.05581583082675934
            ],
            "speed_kmh": 12.532461904486746,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.075470924377441,
                "transform": {
                    "location": {
                        "x": -1565.8914794921875,
                        "y": 1607.015869140625,
                        "z": 324.3249206542969
                    },
                    "rotation": {
                        "roll": 0.00029361751512624323,
                        "pitch": 0.011467887088656425,
                        "yaw": -179.52090454101562
                    }
                },
                "velocity": {
                    "x": -8.075186729431152,
                    "y": -0.06768243759870529,
                    "z": 0.0028486917726695538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.12913742661476135,
                "transform": {
                    "location": {
                        "x": -1565.6134033203125,
                        "y": 1610.71875,
                        "z": 324.330078125
                    },
                    "rotation": {
                        "roll": -0.00012207048712298274,
                        "pitch": 0.4515574276447296,
                        "yaw": 0.4973375201225281
                    }
                },
                "velocity": {
                    "x": 0.129134863615036,
                    "y": 0.0007790356758050621,
                    "z": 0.00023385047097690403
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.215050220489502,
                "transform": {
                    "location": {
                        "x": -1551.92626953125,
                        "y": 1610.8294677734375,
                        "z": 324.3767395019531
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": 0.5761469006538391,
                        "yaw": 0.46545901894569397
                    }
                },
                "velocity": {
                    "x": 6.2147088050842285,
                    "y": 0.05263759568333626,
                    "z": 0.03841617330908775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4812395572662354,
                "transform": {
                    "location": {
                        "x": -1509.7923583984375,
                        "y": 1611.1842041015625,
                        "z": 324.944091796875
                    },
                    "rotation": {
                        "roll": 0.005085872486233711,
                        "pitch": 1.1653941869735718,
                        "yaw": 0.6932205557823181
                    }
                },
                "velocity": {
                    "x": 3.480647563934326,
                    "y": 0.0317019484937191,
                    "z": 0.05581583082675934
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.528968811035156,
                "transform": {
                    "location": {
                        "x": -1492.7584228515625,
                        "y": 1611.3277587890625,
                        "z": 325.2486572265625
                    },
                    "rotation": {
                        "roll": 0.0004030456766486168,
                        "pitch": 1.286718726158142,
                        "yaw": 0.48337075114250183
                    }
                },
                "velocity": {
                    "x": 4.527708053588867,
                    "y": 0.03818504139780998,
                    "z": 0.09979677200317383
                },
                "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": 0.21048468351364136,
        "expert_target_speed": 5.6232278590810045,
        "target_point": [
            15.626331315855218,
            0.4487786558380775
        ],
        "target_point_next": [
            15.626331315855218,
            0.4487786558380775
        ]
    },
    "605": {
        "acceleration": [
            0.037555694580078125,
            0.10865777730941772,
            0.008471310138702393
        ],
        "angular_velocity": [
            0.1049237847328186,
            -0.21960404515266418,
            0.11967018991708755
        ],
        "forward_vector": [
            0.9998605251312256,
            -0.009324826300144196,
            0.013855251483619213
        ],
        "right_vector": [
            0.009321027435362339,
            0.999956488609314,
            0.00033872155472636223
        ],
        "location": [
            -1535.1981201171875,
            1610.68310546875,
            324.5538024902344
        ],
        "rotation": [
            -0.01940917782485485,
            0.7938728332519531,
            -0.5343322157859802
        ],
        "velocity": [
            4.519487380981445,
            -0.03650537133216858,
            0.06402679532766342
        ],
        "speed": 4.519634811462827,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.406858444213867,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1508.79931640625,
                1611.1937255859375,
                324.9594421386719
            ],
            "velocity": [
                4.469460487365723,
                0.03946567326784134,
                0.07275964319705963
            ],
            "speed_kmh": 16.09281684631558,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.040955543518066,
                "transform": {
                    "location": {
                        "x": -1567.9053955078125,
                        "y": 1606.9991455078125,
                        "z": 324.32537841796875
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.004658188670873642,
                        "yaw": -179.51954650878906
                    }
                },
                "velocity": {
                    "x": -8.04067325592041,
                    "y": -0.0673849880695343,
                    "z": 0.0006840514834038913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0139424800872803,
                "transform": {
                    "location": {
                        "x": -1565.4927978515625,
                        "y": 1610.7198486328125,
                        "z": 324.33343505859375
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": 0.042319849133491516,
                        "yaw": 0.502677321434021
                    }
                },
                "velocity": {
                    "x": 1.0139217376708984,
                    "y": 0.006459226831793785,
                    "z": 0.0006259250221773982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.779270648956299,
                "transform": {
                    "location": {
                        "x": -1550.0943603515625,
                        "y": 1610.8450927734375,
                        "z": 324.3912658691406
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.724881112575531,
                        "yaw": 0.4928700625896454
                    }
                },
                "velocity": {
                    "x": 7.778674125671387,
                    "y": 0.06659932434558868,
                    "z": 0.06962800770998001
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.470226764678955,
                "transform": {
                    "location": {
                        "x": -1508.79931640625,
                        "y": 1611.1937255859375,
                        "z": 324.9594421386719
                    },
                    "rotation": {
                        "roll": 0.005853099748492241,
                        "pitch": 1.2304584980010986,
                        "yaw": 0.6150510907173157
                    }
                },
                "velocity": {
                    "x": 4.469460487365723,
                    "y": 0.03946567326784134,
                    "z": 0.07275964319705963
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.5361247062683105,
                "transform": {
                    "location": {
                        "x": -1491.6202392578125,
                        "y": 1611.337646484375,
                        "z": 325.2741394042969
                    },
                    "rotation": {
                        "roll": 0.00018735358025878668,
                        "pitch": 1.2833583354949951,
                        "yaw": 0.48314419388771057
                    }
                },
                "velocity": {
                    "x": 4.534812927246094,
                    "y": 0.038306523114442825,
                    "z": 0.10213737189769745
                },
                "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": 0.22562678158283234,
        "expert_target_speed": 5.634857227376437,
        "target_point": [
            14.497200102004985,
            0.4463729302786045
        ],
        "target_point_next": [
            14.497200102004985,
            0.4463729302786045
        ]
    },
    "610": {
        "acceleration": [
            0.039234161376953125,
            0.05634428933262825,
            0.009770989418029785
        ],
        "angular_velocity": [
            -0.02113276906311512,
            -0.21219685673713684,
            0.795721173286438
        ],
        "forward_vector": [
            0.9998679757118225,
            -0.006704522296786308,
            0.014801318757236004
        ],
        "right_vector": [
            0.006696402560919523,
            0.9999774098396301,
            0.0005980805144645274
        ],
        "location": [
            -1534.0665283203125,
            1610.677001953125,
            324.5697326660156
        ],
        "rotation": [
            -0.0342712476849556,
            0.848084032535553,
            -0.3841858208179474
        ],
        "velocity": [
            4.5294575691223145,
            -0.014244192279875278,
            0.0652390867471695
        ],
        "speed": 4.529479966562732,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.51405906677246,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1507.5609130859375,
                1611.2049560546875,
                324.9807434082031
            ],
            "velocity": [
                5.3694963455200195,
                0.04572945460677147,
                0.0904628336429596
            ],
            "speed_kmh": 19.33363089607006,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.074832916259766,
                "transform": {
                    "location": {
                        "x": -1569.9197998046875,
                        "y": 1606.982421875,
                        "z": 324.32568359375
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.013045660220086575,
                        "yaw": -179.5169219970703
                    }
                },
                "velocity": {
                    "x": -8.074542045593262,
                    "y": -0.06808574497699738,
                    "z": 0.007898836396634579
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8828283548355103,
                "transform": {
                    "location": {
                        "x": -1565.1243896484375,
                        "y": 1610.722900390625,
                        "z": 324.33441162109375
                    },
                    "rotation": {
                        "roll": 0.0008432341273874044,
                        "pitch": -0.08044596016407013,
                        "yaw": 0.5032921433448792
                    }
                },
                "velocity": {
                    "x": 1.8827637434005737,
                    "y": 0.015597226098179817,
                    "z": 0.00013566970301326364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.703747749328613,
                "transform": {
                    "location": {
                        "x": -1548.2718505859375,
                        "y": 1610.8607177734375,
                        "z": 324.4069519042969
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.4234853684902191,
                        "yaw": 0.4877348840236664
                    }
                },
                "velocity": {
                    "x": 6.703243732452393,
                    "y": 0.057434357702732086,
                    "z": 0.05881500989198685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.370452880859375,
                "transform": {
                    "location": {
                        "x": -1507.5609130859375,
                        "y": 1611.2049560546875,
                        "z": 324.9807434082031
                    },
                    "rotation": {
                        "roll": 0.0026351630222052336,
                        "pitch": 1.1613370180130005,
                        "yaw": 0.55128014087677
                    }
                },
                "velocity": {
                    "x": 5.3694963455200195,
                    "y": 0.04572945460677147,
                    "z": 0.0904628336429596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.458780765533447,
                "transform": {
                    "location": {
                        "x": -1490.4927978515625,
                        "y": 1611.3472900390625,
                        "z": 325.29937744140625
                    },
                    "rotation": {
                        "roll": -0.0002136231487384066,
                        "pitch": 1.2765827178955078,
                        "yaw": 0.48314088582992554
                    }
                },
                "velocity": {
                    "x": 4.457513809204102,
                    "y": 0.03756723925471306,
                    "z": 0.09943298250436783
                },
                "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": 0.23702996969223022,
        "expert_target_speed": 5.650100062144278,
        "target_point": [
            13.366712744067494,
            0.4068978337893541
        ],
        "target_point_next": [
            13.366712744067494,
            0.4068978337893541
        ]
    },
    "615": {
        "acceleration": [
            0.035648345947265625,
            0.07115069031715393,
            0.028238743543624878
        ],
        "angular_velocity": [
            -0.0012147530214861035,
            -0.04089156538248062,
            0.5575304627418518
        ],
        "forward_vector": [
            0.9998712539672852,
            -0.003844062564894557,
            0.01557990349829197
        ],
        "right_vector": [
            0.0038358401507139206,
            0.9999924898147583,
            0.00055759830866009
        ],
        "location": [
            -1532.9324951171875,
            1610.6746826171875,
            324.5858459472656
        ],
        "rotation": [
            -0.0319519080221653,
            0.8926988244056702,
            -0.2202758491039276
        ],
        "velocity": [
            4.538887023925781,
            -0.0002923157881014049,
            0.0677499771118164
        ],
        "speed": 4.538887033338718,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.735706329345703,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1506.20556640625,
                1611.217041015625,
                325.00439453125
            ],
            "velocity": [
                5.48370885848999,
                0.04588618502020836,
                0.09029155224561691
            ],
            "speed_kmh": 19.74471877555597,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.038310050964355,
                "transform": {
                    "location": {
                        "x": -1571.934326171875,
                        "y": 1606.9654541015625,
                        "z": 324.3279724121094
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 0.10747302323579788,
                        "yaw": -179.5138397216797
                    }
                },
                "velocity": {
                    "x": -8.03801155090332,
                    "y": -0.06819403171539307,
                    "z": 0.012479934841394424
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.747319221496582,
                "transform": {
                    "location": {
                        "x": -1564.5416259765625,
                        "y": 1610.727783203125,
                        "z": 324.33453369140625
                    },
                    "rotation": {
                        "roll": 0.0004621189145836979,
                        "pitch": -0.09261736273765564,
                        "yaw": 0.5014440417289734
                    }
                },
                "velocity": {
                    "x": 2.747225284576416,
                    "y": 0.022709356620907784,
                    "z": -0.0002705383230932057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.651952028274536,
                "transform": {
                    "location": {
                        "x": -1547.0797119140625,
                        "y": 1610.869384765625,
                        "z": 324.4164123535156
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": 0.006953132338821888,
                        "yaw": 0.6811631321907043
                    }
                },
                "velocity": {
                    "x": 2.651792526245117,
                    "y": 0.01804461143910885,
                    "z": 0.02282172068953514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.484643936157227,
                "transform": {
                    "location": {
                        "x": -1506.20556640625,
                        "y": 1611.217041015625,
                        "z": 325.00439453125
                    },
                    "rotation": {
                        "roll": 0.0016928068362176418,
                        "pitch": 1.0220011472702026,
                        "yaw": 0.5109160542488098
                    }
                },
                "velocity": {
                    "x": 5.48370885848999,
                    "y": 0.04588618502020836,
                    "z": 0.09029155224561691
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.567143440246582,
                "transform": {
                    "location": {
                        "x": -1489.3812255859375,
                        "y": 1611.357177734375,
                        "z": 325.3241271972656
                    },
                    "rotation": {
                        "roll": 0.00032557308441028,
                        "pitch": 1.2788572311401367,
                        "yaw": 0.4830686151981354
                    }
                },
                "velocity": {
                    "x": 4.565849304199219,
                    "y": 0.03853277489542961,
                    "z": 0.10167630761861801
                },
                "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": 0.24425342679023743,
        "expert_target_speed": 5.661516436454655,
        "target_point": [
            12.233788353328336,
            0.3666163895996051
        ],
        "target_point_next": [
            12.233788353328336,
            0.3666163895996051
        ]
    },
    "620": {
        "acceleration": [
            0.030193328857421875,
            0.06362436711788177,
            -0.00960037112236023
        ],
        "angular_velocity": [
            0.009892270900309086,
            0.002462792908772826,
            0.9373205900192261
        ],
        "forward_vector": [
            0.9998791813850403,
            -0.00036640666075982153,
            0.01553985383361578
        ],
        "right_vector": [
            0.0003575530427042395,
            0.9999997615814209,
            0.0005725104128941894
        ],
        "location": [
            -1531.7965087890625,
            1610.6763916015625,
            324.60308837890625
        ],
        "rotation": [
            -0.032806396484375,
            0.8904039263725281,
            -0.0209960900247097
        ],
        "velocity": [
            4.5472259521484375,
            0.018184466287493706,
            0.06921945512294769
        ],
        "speed": 4.5472623120627675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.20661163330078,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1504.598876953125,
                1611.2305908203125,
                325.02899169921875
            ],
            "velocity": [
                7.1297221183776855,
                0.059409741312265396,
                0.11753512918949127
            ],
            "speed_kmh": 25.671377998848353,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07237720489502,
                "transform": {
                    "location": {
                        "x": -1573.9486083984375,
                        "y": 1606.9483642578125,
                        "z": 324.3318786621094
                    },
                    "rotation": {
                        "roll": -0.00021362311963457614,
                        "pitch": 0.1372389793395996,
                        "yaw": -179.51353454589844
                    }
                },
                "velocity": {
                    "x": -8.072063446044922,
                    "y": -0.06852325052022934,
                    "z": 0.01918267272412777
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8001155853271484,
                "transform": {
                    "location": {
                        "x": -1563.722412109375,
                        "y": 1610.7349853515625,
                        "z": 324.33453369140625
                    },
                    "rotation": {
                        "roll": 0.0004013183352071792,
                        "pitch": -0.10568351298570633,
                        "yaw": 0.49676769971847534
                    }
                },
                "velocity": {
                    "x": 3.7999699115753174,
                    "y": 0.03326110914349556,
                    "z": -0.0007708072662353516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7473915815353394,
                "transform": {
                    "location": {
                        "x": -1546.880126953125,
                        "y": 1610.87109375,
                        "z": 324.4184265136719
                    },
                    "rotation": {
                        "roll": -0.0036621096078306437,
                        "pitch": 0.15904094278812408,
                        "yaw": 0.7017233371734619
                    }
                },
                "velocity": {
                    "x": 0.7473042607307434,
                    "y": 0.008624955080449581,
                    "z": 0.007493686396628618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.1309380531311035,
                "transform": {
                    "location": {
                        "x": -1504.598876953125,
                        "y": 1611.2305908203125,
                        "z": 325.02899169921875
                    },
                    "rotation": {
                        "roll": 0.001124937436543405,
                        "pitch": 1.2552794218063354,
                        "yaw": 0.4680570960044861
                    }
                },
                "velocity": {
                    "x": 7.1297221183776855,
                    "y": 0.059409741312265396,
                    "z": 0.11753512918949127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.519042015075684,
                "transform": {
                    "location": {
                        "x": -1488.2215576171875,
                        "y": 1611.3668212890625,
                        "z": 325.3500061035156
                    },
                    "rotation": {
                        "roll": 0.0002840111555997282,
                        "pitch": 1.2773545980453491,
                        "yaw": 0.4828774333000183
                    }
                },
                "velocity": {
                    "x": 4.517758846282959,
                    "y": 0.038100715726614,
                    "z": 0.10072141140699387
                },
                "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": 0.23582065105438232,
        "expert_target_speed": 5.680644755779936,
        "target_point": [
            11.099003878943893,
            0.3219378529412518
        ],
        "target_point_next": [
            11.099003878943893,
            0.3219378529412518
        ]
    },
    "625": {
        "acceleration": [
            0.04076957702636719,
            -0.05165909230709076,
            -0.005180388689041138
        ],
        "angular_velocity": [
            -0.05854529142379761,
            0.01752340793609619,
            -0.2694242596626282
        ],
        "forward_vector": [
            0.9998799562454224,
            0.0005383873358368874,
            0.01548824179917574
        ],
        "right_vector": [
            -0.0005393676110543311,
            0.9999998807907104,
            5.911508196732029e-05
        ],
        "location": [
            -1530.6588134765625,
            1610.677978515625,
            324.6203918457031
        ],
        "rotation": [
            -0.0033874509390443563,
            0.887446403503418,
            0.03085101954638958
        ],
        "velocity": [
            4.555342674255371,
            7.784605986671522e-05,
            0.06913714855909348
        ],
        "speed": 4.555342674920525,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.827735900878906,
        "front_vehicle_info": {
            "id": 6002,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1502.84033203125,
                1611.2435302734375,
                325.0622253417969
            ],
            "velocity": [
                5.439019203186035,
                0.04054795950651169,
                0.10127606987953186
            ],
            "speed_kmh": 19.58440726958107,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 6012,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.038148880004883,
                "transform": {
                    "location": {
                        "x": -1575.9625244140625,
                        "y": 1606.9315185546875,
                        "z": 324.3366394042969
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.129876047372818,
                        "yaw": -179.51576232910156
                    }
                },
                "velocity": {
                    "x": -8.037842750549316,
                    "y": -0.06768064945936203,
                    "z": 0.01859695464372635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 6004,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.903153896331787,
                "transform": {
                    "location": {
                        "x": -1562.626953125,
                        "y": 1610.7440185546875,
                        "z": 324.3356018066406
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.07022117078304291,
                        "yaw": 0.4902808368206024
                    }
                },
                "velocity": {
                    "x": 4.902971267700195,
                    "y": 0.03948710486292839,
                    "z": 0.01529159490019083
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 6003,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8288049697875977,
                "transform": {
                    "location": {
                        "x": -1546.5513916015625,
                        "y": 1610.8743896484375,
                        "z": 324.4218444824219
                    },
                    "rotation": {
                        "roll": 0.0015438253758475184,
                        "pitch": 0.5535594820976257,
                        "yaw": 0.6682001948356628
                    }
                },
                "velocity": {
                    "x": 1.828643560409546,
                    "y": 0.018787618726491928,
                    "z": 0.015407085418701172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 6002,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.440113067626953,
                "transform": {
                    "location": {
                        "x": -1502.84033203125,
                        "y": 1611.2435302734375,
                        "z": 325.0622253417969
                    },
                    "rotation": {
                        "roll": 0.002681459067389369,
                        "pitch": 0.9423201680183411,
                        "yaw": 0.6609247922897339
                    }
                },
                "velocity": {
                    "x": 5.439019203186035,
                    "y": 0.04054795950651169,
                    "z": 0.10127606987953186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 6001,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.477142810821533,
                "transform": {
                    "location": {
                        "x": -1487.106689453125,
                        "y": 1611.3765869140625,
                        "z": 325.3757629394531
                    },
                    "rotation": {
                        "roll": 0.0008279585163109004,
                        "pitch": 1.314626932144165,
                        "yaw": 0.4829758405685425
                    }
                },
                "velocity": {
                    "x": 4.475646495819092,
                    "y": 0.03775549307465553,
                    "z": 0.1094222217798233
                },
                "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": 0.2504841983318329,
        "expert_target_speed": 5.684443968694424,
        "target_point": [
            9.961594622643151,
            0.31092097356050513
        ],
        "target_point_next": [
            9.961594622643151,
            0.31092097356050513
        ]
    }
}